In order to study the motion control method of six-wheel mobile robot in complex terrain environment,a predictive control and dynamic compensation control method is proposed for the trajectory tracking problem of six-wheel independent drive and steering robot in complex terrain.This method is based on the nonholonomically constrained linear six-wheeled mobile robot kinematics model and the model predictive control algorithm,and introduces a proportional-integral-derivative compensation controller to suppress the tracking error caused by dynamic hysteresis.Coping with the effect of terrain disturbance on trajectory tracking.the collision avoidance problem of obstacles in the process of robot movement is analyzed,an obstacle avoidance planner that can solve the obstacle avoidance trajectory is designed to track and control the local obstacle avoidance trajectory through the trajectory tracking system,thus realizing the trajectory tracking and automatic collision avoidance of robot,and the trajectory tracking algorithm and obstacle avoidance algorithm were simulated experiments.The experimental results show that the robot can complete the sinusoidal trajectory tracking control and the static and dynamic obstacle collision avoidances in concave slope,convex slope and uneven terrain under typical working conditions,which verifies the effectiveness of the method.
关键词
六轮独立驱动与转向机器人/轨迹跟踪控制/模型预测控制/PID补偿控制/避障控制
Key words
six-wheel independent drive and steering robot/trajectory tracking control/model predictive control/PID compensation control/obstacle avoidance control
维普
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