Research on Path Planning and Sliding Mode Tracking Algorithm of Intelligent Disinfection and Sterilization Robot
In order to realize the autonomous movement control of disinfection and sterilization robot,the continuous integral sliding mode path tracking control method of robot based on A-star algorithm is studied.Firstly,the A-star path planning algorithm is adopted to achieve global fast path planning for mobile robots,thereby obtaining the optimal robot motion path.Then,based on the output path,a segmented continuous integral sliding mode tracking controller is designed,which effectively improves the convergence rate of the system,achieves tracking error approaching 0 within a finite time and ensures path tracking accuracy and control system stability.Finally,the effectiveness of the method is verified through simulation experiments.
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维普
