Non-time Reference Point Tracking Control for Car-like Mobile Robots

Abstract

Abstract:

According to velocity and acceleration saturation restriction in mobile robot control system, a non-time reference point tracking control method was proposed. A variable that monotononicly increasing over time was selected as the control logic variable, so velocity and acceleration saturation phenomenon in time domain was avoided. Control logic model was built using Simulink, then single point tracking simulation and tracking simulation of multiple continuous target points were done. Single point tracking simulation results show that, robot reaches the target state eventually with any initial state under the control method. Tracking simulation results of multiple continuous target points show that the point tracking control method can be used in path tracking for car-like robot.

Key words: point tracking, non-holonomic constraint, non-time reference, nonlinear feedback, car-like mobile robot

摘要：

针对移动机器人控制研究中的小车速度与加速度饱和限制现象，提出了非时间参考的定点跟踪控制方法。选择随时间单调递增的非时间变量为转向控制律变量，摆脱了移动机器人速度与加速度对控制律的时域限制。在Simulink中建立控制逻辑并进行了单目标点与多目标点连续跟踪仿真。单目标点跟踪仿真结果表明，对于任意初始状态机器人，提出的定点跟踪控制方法均能使小车到达目标状态。多目标点连续跟踪结果表明，可将定点跟踪控制策略应用于类车机器人的路径跟踪控制。

关键词: 定点跟踪, 非完整约束, 非时间参考, 非线性反馈, 类车机器人

CLC Number:

TP273

Li Hong, Guo Konghui, Song Xiaolin, Huang Jiang. Non-time Reference Point Tracking Control for Car-like Mobile Robots[J]. China Mechanical Engineering, 2015, 26(13): 1705-1711.

李红, 郭孔辉, 宋晓琳, 黄江. 非时间参考的类车机器人定点跟踪控制[J]. 中国机械工程, 2015, 26(13): 1705-1711.

References

[1]Sordalen O J. Conversion of the Kinematics of a Car with n Trailers into a Chained Rorm[C]//1993 IEEE International Conference on Robotics and Automation. Atlanta,1993:382-387.
[2]Solea R，Filipescu A，Nunes U. Sliding-mode Control for Trajectory-tracking of a Wheeled Mobile Robot in Presence of Uncertainties[C]//Proceedings of the 7th Asian Control Coference.Hong Kong,2009:1701-1706.
[3]Yang J M，Kim J H. Sliding Mode Control for Trajectory Tracking of Nonholonomic Wheeled Mobile Rotots[J]. IEEE Transactions on Robots and Automation，1999，15：578-587.
[4]Han G X, Zhao Y H. Trajectory Tracking Control of Nonholonomic Wheeled Mobile Robots with Actuator Dynamic Being Considered[J]. Advanced Materials Research, 2012, 433: 2596-2601.
[5]Moret E N. Dynamic Modeling and Control of a Car-like Robot[D]. Blacksburg，Virginia：Virginia Polytechnic Institute and State University，2003.
[6]Wu J B，Xu G H，Yin Z P. Robust Adaptive Control for a Nonholon Mobile Robot with Unknown Parameters[J]. Journal of Control Theory and Applications,2009,7(2): 212-218.
[7]Aguiar A P，Hespanha J P. Trajectory-tracking and Path-following Underactuated Autonomous Vehicles with Parametric Modeling Uncertainty[J]. IEEE Transactions on Automatic Control，2007，52：1362-1379.
[8]Artus G，Morin P，Samson C. Tracking of an Omnidirectional Target with a Nonholonomic Mobile Robot[C]//The 11th International Conference on Advanced Robotics. Coimbra，Portugal，2003：1468-1473.
[9]郁伉，肖本贤，李艳红. 受非完整性约束的移动机器人路径跟踪算法[J]. 合肥工业大学学报，2010，33(9)：1316-1319.
Yu Kang，Xiao Benxian，Li Yanhong. Path-following Algorithm for Mobile Robots with Non-holonomic[J]. Journal of Hefei University of Technology，2010，33(9)：1316-1319.
[10]董文杰，霍伟. 受非完整约束移动机器人的跟踪控制[J].自动化学报，2000，26(1)：1-6.
Dong Wenjie，Huo Wei. Tacking Control of Mobile Robots with Nonholonomic Constraint[J]. Acta Automatica Sinica，2000，26(1)：1-6.
[11]吴卫国，陈辉堂，王月娟. 移动机器人的全局轨迹跟踪控制[J]. 自动化学报，20001，27(3)：326-331.
Wu Weiguo，Chen Huitang，Wang Yuejuan. Global Trajectory Tracking Control of Mobile Robots[J]. Acta Automatica Sinica，2001，27(3)：326-331.
[12]孙棣华，崔明月，李永福. 具有参数不确定性的轮式移动机器人自适应backstepping控制[J]. 控制理论与应用，2012，29(9)：1198-1204.
Sun Dihua，Cui Mingyue，Li Yongfu. Adaptive Backstepping Control of Wheeled Mobile Robots with Parameter Uncertainties[J]. Control Theory & Applications，2012，29(9)：1198-1204.
[13]郑泽伟，霍伟，诸兵. 非完整移动机器人全局路径跟踪控制[J]. 控制理论与应用，2012，29(6)：741-746.
Zheng Zewei，Huo Wei，Zhu Bing. Global Path-following Control for Nonholonomic Mobile Robots[J]. Control Theory & Application，2012，29(6)：741-746.
[14]李杰，韦庆，常文森. 非时间参考的机器人路径规划与控制方法[J]. 机器人，2001，23(1)：12-14.
Li Jie，Wei Qing，Chang Wensen. Non-time Based Trajectory Planning and Control for Robots[J]. Rotot，2001，23(1)：12-14.
[15]王栋耀，马旭东，戴先中. 非时间参考的移动机器人路径跟踪控制[J]. 机器人，2004，26(3)：199-203.
Wang Dongyao，Ma Xudong，Dai Xianzhong.Non-time Based Path Tracking Control for Mobile Robots[J]. Robot，2004，26(3)：199-203.
[16]王越超，景兴建. 非完整约束轮式移动机器人人工场导向控制研究[J]. 自动化学报，2002，28(5)：778-783.
Wang Yuechao，Jing Xingjian. Steering and Control of Nonholonomic Wheeled Mobile Robots Using Artificial Fields[J]. Acta Automatic Sinica，2002，28(5)：778-783.
[17]罗志凡，卢耀祖，张氢，等. 自动移动小车点镇定的控制参数优化及仿真[J].同济大学学报(自然科学版)，2006，34(11)：1539-1542.
Luo Zhifan，Lu Yaozu，Zhang Qing，et al. Stabilization Control Parameters Optimization and Simulation of Automatic Guided Vehicle[J]. Journal of Tongji University (Natural Science)，2006，34(11)：1539-1542.
[18]王牛，李祖枢. 一种两轮式机器人点镇定智能控制实现[J].控制理论与应用，2010，27(4)：438-443.
Wang Niu，Li Zushu. Realization of Point Stabilization Intelligence Control for Two-wheel Robot[J]. Control Theory & Applications，2010，27(4)：438-443.
[19]Maaref H，Barret C. Sensor-based Navigation of Mobile Robot in an Indoor Environment[J]. Robotics and Autonomous Systems，2002，38(1)：1-18.
[20]Keighobaid J，Mohamadi Y. Fuzzy Sliding Mode Control of a Non-holonomic Wheeled Mobile Robot[C]//Proceeding of the International Multi Conference of Engineers and Computer Scientists. Hong Kong，2011：978-988.
[21]Sampei M. A Control Strategy for a Class of Nonholonomic Systems-time-state Control Form and Its Application[C]// Proceedings of the 33rd IEEE Conference on Decision and Control.Lake Buena Vista,1994：1120-1121.
[22]刘金琨.先进PID控制及其MATLAB仿真[M]. 北京：电子工业出版社，2003.