Robust Control of Mobile Robots on Rough Terrain
Robust Control of Mobile Robots on Rough Terrain
复制标题
崎岖地形上移动机器人的鲁棒控制
DOI：
10.1299/kikaic.74.2705
复制
发表时间：
2008
期刊：
影响因子：
--
通讯作者：
Hirohisa Imai
中科院分区：
文献类型：
--
作者：
K. Kurashiki;T. Fukao;K. Osuka;Kenji Ishiyama;Yorihide Takehara;Hirohisa Imai
轮式移动机器人是一种非完整约束系统，目前已被广泛研究。无人地面车辆是一种轮式移动机器人，由于农业工人的减少和老龄化，日本非常需要无人地面车辆。本文将具有路径再生的逆最优控制应用于非完整移动机器人和无人地面车辆的路径跟踪问题。所设计的控制器具有稳定裕度，保证了对输入不确定性的鲁棒性。鲁棒性有可能在车轮受到干扰影响控制精度的粗糙地形上表现优异。通过仿真和实验验证了该控制系统的有效性，该控制系统采用摄像机和三轴角度传感器来获取位置和姿态。
A wheeled mobile robot is one of the nonholonomic constrained systems and has been studied intensively. An unmanned ground vehicle is a kind of wheeled mobile robots and is strongly needed in Japan because of decrease and aging of agricultural workers. In this paper, inverse optimal control with path regeneration is applied to the path following problem of a nonholonomic mobile robot and an unmanned ground vehicle. The designed controller has a stability margin which guarantees robustness to uncertainties on the input. The robustness has a possibility of superior performance on rough terrain where disturbances to the wheels affect the control accuracy. The efficiency of the proposed control system is confirmed by some simulations and experiments, in which a camera and a three-axial angle sensor are used to obtain the position and attitude.