Wheeled mobile robot point stabilization rolling optimization control method

Abstract

The invention discloses a wheeled mobile robot point stabilization rolling optimization control method which comprises the following steps of: based on a dynamic model of a mobile robot of a global coordinate system, combining control constraint and state constraint into design of a point stabilization controller by using a state feedback model prediction control method; finally designing a smooth stabilization control rule expression equation of a mobile robot control system through variable substitution. Therefore, the problem of point stabilization control stability caused by incomplete constraint of the mobile robot self, the problem of point stabilization control stability caused by inevitable acceleration and speed constraint of a movement execution system of the mobile robot self, and the problem of point stabilization control stability caused by uncertainty of various external environments can be solved, and movement rapidness and accuracy can be effectively improved while good mobile robot movement tracks are ensured.

Description

technical field [0001] The invention relates to a point-stabilized rolling optimization control method for a wheeled mobile robot. Background technique [0002] With the rapid increase in the application range of wheeled mobile robots, the real-time and fast response capabilities of robot motion control are also improving, and its motion control methods have received more and more attention. The goal of motion control for wheeled mobile robots is to solve the motion planning and stabilization control problems of mobile robots. The stabilization control is to drive the robot to move asymptotically to the target point through the feedback control law, but wheeled mobile robots usually have nonholonomic constraints. There is no continuous smooth control law that can asymptotically stabilize a mobile robot, making the stability control of wheeled mobile robots a challenging problem. Through the literature search of existing wheeled mobile robot point stabilization control metho...

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Problems solved by technology

[0003] In order to overcome the shortcomings of the existing wheeled mobile robot point stabilization control method, which are complicated to understand, difficult to implement, and the calculated control quantity does not meet the constraints of the robot system, the present invention provides an intuitive understanding, simple design, and calculation of the control quantity to meet the robot system. Point-stabilized rolling optimization control method for wheeled mobile robot with constraints

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