基于能量优化的轮式移动机器人轨迹跟踪控制技术研究

项目名称： 基于能量优化的轮式移动机器人轨迹跟踪控制技术研究

项目编号： No.51305406

项目类型： 青年科学基金项目

立项/批准年度： 2014

项目学科： 机械、仪表工业

项目作者： 尹晓红

作者单位： 浙江师范大学

项目金额： 23万元

中文摘要： 鉴于目前非完整轮式移动机器人（WMR）在运动过程中既要求精确跟踪又要求能量优化的特点，而现有方法在跟踪策略设计、能耗模型建立及节能控制方案选择等方面研究相互独立的现状，拟提出一种轨迹跟踪和能量优化统一控制的理论与方法。具体而言，本项目将深入研究非完整 WMR 轨迹跟踪的特点，建立运动学/动力学模型及跟踪误差模型，设计运动学控制器；系统分析 WMR 各部分能耗，构建电机、计算机处理器及传感器能耗模型；探索运动学/动力学模型和能耗模型之间的内在关联机制，构建关联模型；设计能量优化控制器，提出一种基于能量优化的 WMR 轨迹跟踪控制理论与方法，使速度输出光滑、有界，实现整个运动过程的高精度、低能耗控制及系统全局稳定性。本研究将实现非完整控制系统运动控制和能量优化的有机结合，为实现跟踪/节能两者的统一控制开启新的研究思路，具有很好的科学意义、重要的理论价值和实际的应用前景。

中文关键词： 轮式移动机器人；能量优化；轨迹跟踪；统一控制；

英文摘要： In view of the fact that not only accurate tracking but also energy optimization are required for the Wheeled Mobile Robot (WMR) during its movement, and the reality that the research in tracking strategy designing, energy-consumption model building and energy-saving control scheme selection are mutual independence in the existing approaches, an unified control theory/method for WMR combined trajectory tracking and energy-optimization will be presented in this project. Specifically, the tracking characteristics of the non-holonomic WMR will be studied, the kinemics/dynamics and tracking-error models will be constructed firstly. Then energy consumption for each part of the WMR will be analyzed and the energy consumption models for the motor, computer processor and sensors will be developed. On this basis, the interactive mechanism between the kinemics/dynamics models and the energy consumption models will be explored and the interaction model will be built up. Finally, a kind of trajectory tracking control method based on energy-optimization will be proposed, making the output speed smooth as well as bounded, and realizing the high-accuracy and low-energy consumption control in the whole moving process. In a word, this research aims to realize the organic combination of moving control and energy optimization for

英文关键词： Wheeled mobile robot；Energy optimization；Trajectory tracking；Unified control；