基于EKF和Lyapunov函数的移动机器人轨迹跟踪控制

摘要

针对轮式移动机器人在实际运行中受环境因数影响的情况,采用扩展卡尔曼滤波(EKF)算法融合里程计与超声波的观测数据,对机器人的参考轨迹信息进行校正.在机器人动力学模型的基础上,运用Lyapunov直接法,构造具有全局渐近稳定的跟踪控制器,对机器人进行轨迹跟踪.根据Lyapunov稳定性定理证明了系统的全局稳定性.仿真结果表明,数据滤波与Lyapunov方法结合的跟踪控制器效果良好.%According to the fact that the wheeled mobile robots are influenced by the environmental factor in practice,the information of reference trajectory of the robot was corrected by using the extended Kalman filter (EKF) algorithm fusion odometry and ultrasonic observation data.Based on the robot dynamic model,a global asymptotical stable tracking controller was constructed by using the Lyapunov direct method,and the global stability of the system was proved by using Lyapunov stability theorem.The simulation results of this paper showed that the tracking controller,which combined both the data filtering and Lyapunov method,has better efficiency.