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Designing and simulation a motion Controller for a Wheeled Mobile Robot Autonomous Navigation

机译:轮式移动机器人自主导航运动控制器的设计与仿真

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This paper describes the development of PD, PID Computed-Torque (CT), and a PD digital motion controller for the autonomous navigation of a Wheeled Mobile Robot (WMR) in outdoor environments. The controllers select the suitable control torques, so that the WMR follows the desired path produced from a navigation algorithm described in a previous paper. PD CT, PID CT, and PD digital controllers were developed using a linear system design procedure to select the feedback control signal that stabilizes the tracking error equation. The torques needed for the motors were computed by using the inverse of the dynamic equation for the WMR. Simulation software was developed to simulate the performance and efficiency of the controllers. Simulation results verified the effectiveness of the controllers under different motion trajectories, comparing the performance of the three controllers shows that the PD digital controller was the best where the tracking error did not exceed .05 using 20 msec sample period. The significance of this work lies in the development of CT and digital controllers for WMR navigation, instead of robot manipulators. These CT controllers will facilitate the use of WMRs in many applications including defense, industrial, personal, and medical robots.
机译:本文介绍了PD,PID计算转矩(CT)和PD数字运动控制器的发展,该PD用于户外环境中的轮式移动机器人(WMR)的自主导航。控制器选择合适的控制扭矩,以使WMR遵循由先前论文中所述的导航算法产生的所需路径。使用线性系统设计程序开发了PD CT,PID CT和PD数字控制器,以选择稳定跟踪误差方程的反馈控制信号。通过使用WMR的动态方程式的逆来计算电机所需的扭矩。开发了仿真软件来仿真控制器的性能和效率。仿真结果验证了在不同运动轨迹下控制器的有效性,比较这三个控制器的性能表明,在使用20毫秒采样周期跟踪误差不超过0.05的情况下,PD数字控制器是最好的。这项工作的意义在于开发用于WMR导航的CT和数字控制器,而不是机器人操纵器。这些CT控制器将有助于在许多应用中使用WMR,包括国防,工业,个人和医疗机器人。

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