移动机器人的路径规划与智能跟踪控制
针对路径跟踪问题，本课题设计了并利用李雅普诺夫第二法验证了位姿镇定控制器。并且制作了带有底层速度或位置闭环的可拓展移动机器人平台，结合移动机器人硬件实际条件为位姿镇定控制器使用了模糊控制。 25494
通过这样一套控制系统，移动机器人完成了全局地图中虚拟路径的生成，并跟踪虚拟路径点队列，实现了路径跟踪功能。
毕业论文关键词：移动机器人；路径规划；人工势场；栅格地图；路径跟踪；位姿镇定
Path planning and intelligent tracking control
of mobile robots
Abstract：Intelligent mobile robot ( mobile platform ) , is an integrated system of
context-aware , dynamic decision-making and planning functions , control and
execution of. It focused on the sensor technology, information processing, electronic
engineering, computer automation, control engineering and artificial intelligence
research and other disciplines. It also represents the highest achievement of
mechatronics and is one of the most sophisticated and active areas of science and
technology currently.
Types of mobile robot path there are many, such as ribbon , tape , etc. These are
beacons path , you need to lay the marks in advance . For intelligent mobile robots ,
it needs to use path planning algorithm path planning out a virtual map in the global
environment map, and transmits the calculated path to the motion controller which
will help the robot to complete the move to make tracking the established path .
his paper use the artificial potential field path planning method based on grid maps,
which is a combination of two commonly used simple path planning algorithm. Not
only reduces the computational complexity, but also to avoid the fundamental the
artificial potential field problems - local minima of a "deadlock ". The algorithm in a
planning reliability , security, have greater efficiency optimization.
For path tracking , reasonable posture stabilization controller was design by Lyapunov
method. And produced a mobile robot platform can be expanded with the underlying
closed loop speed or position. Due to the hardware of robot, a limiter has been added.
By such a control system , a global map of the mobile robot is completed in a virtual
path and track virtual path tracking point array.
Key Words：path planning ; mobile robot artificial potential field ; grid map ;
path tracking ; posture stabilization 目 录
1 绪论. 1
1.1智能移动机器人的路径规划与跟踪控制研究的意义 . 1