非完整移动机器人追踪运动物体的状态反馈控制方法

摘要

介绍非完整移动机器人追踪运动物体的状态反馈控制算法.并引入一些非时变函数以计算状态反馈变量,从而获得连续的速度分布.对控制算法的模拟由MATLAB实现.结果表明,通过状态反馈控制算法,轮式机器人可以循合理的轨迹对运动物体进行追踪以及运动避障.%In this study,a state feedback control algorithm is proposed for moving object tracking on non-holonomic mobile robots. Accordingly, the non-time-variable functions are employed to calculate the state feedback variables so as to obtain the continuous velocity distribution. By simulating the control algorithm via MATLAB- it is found from results that wheeled robots can effectively track the moving objects and avoid obstacles.