Wheeled mobile robot trace tracking control method based on energy saving consideration
A mobile robot, trajectory tracking technology, applied in two-dimensional position/channel control and other directions, can solve problems such as not being well solved
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[0078] The present invention will be further described in detail below in conjunction with the drawings and specific embodiments of the specification.
[0079] Such as figure 1 As shown, the embodiment of the present invention adopts a three-wheeled wheeled mobile robot whose front wheels are both steering wheels and driving wheels, which are respectively realized by a steering motor and a driving motor. in figure 1 In the trajectory tracking diagram shown, x and y represent the position coordinates of the wheeled mobile robot, and θ represents the azimuth angle of the vehicle body; the current actual pose of the wheeled mobile robot is expressed as p c (t)=[x(t) y(t) θ(t)] T , The reference pose given by the path planning algorithm is expressed as p r (t)=[x r (t) y r (t) θ r (t) T ;Pose error is p e (t)=[x e (t) y e (t) θ e (t)] T ; The actual speed of the vehicle body at the present moment is q(t)=[v(t) ω(t)] T , The reference speed is q r (t)=[v r (t) ω r (t)] T , Where v is ...
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