High Speed Differential Drive Mobile Robot Path Following Control With Bounded Wheel Speed Commands
High Speed Differential Drive Mobile Robot Path Following Control With Bounded Wheel Speed Commands
复制标题
具有限界轮速命令的高速差动驱动移动机器人路径跟踪控制
DOI：
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发表时间：
2007
期刊：
影响因子：
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通讯作者：
K. Lingemann
中科院分区：
文献类型：
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作者：
G. Indiveri;A. Nüchter;K. Lingemann
无论是针对运动学还是动力学移动机器人模型的绝大多数路径跟踪控制律，都是在假设理想执行器的情况下设计的，即假设任何指令速度或扭矩（分别在运动学和动力学情况下）无论其值如何都能立即实现。实际的执行器远非理想。特别是，对于任何给定的指令，只能实现有界的速度和扭矩。针对差速驱动移动机器人的运动学模型，对一种已知的路径跟踪控制律进行了修改，以考虑执行器速度饱和的情况。实验表明，所提出的解决方案对于高速应用特别有用，在这些应用中，考虑执行器速度饱和可能对性能有很大影响。
The great majority of path following control laws for either kinematical or dynamical mobile robot models are designed assuming ideal actuators, i.e. assuming that any commanded velocity or torque (in the kinematical and dynamical cases respectively) will be instantly implemented regardless of its value. Real actuators are far from being ideal. In particular, only bounded velocities and torques can be realized for any given command. With reference to the kinematical model of a differential drive mobile robot, a known path following control law is modified to account for actuator velocity saturation. The proposed solution is experimentally shown to be particularly useful for high speed applications where accounting for actuator velocity saturation may have a large influence on performance.