带拖车移动机器人轨迹生成方法的研究与仿真

摘要

带拖车的轮式移动机器人系统属于典型的非完整、欠驱动系统,-般的控制理论很难适用.由于多车体的存在,移动轨迹的控制十分复杂,特别是倒车轨迹控制更成为机器人控制的难点问题.以泊车轨迹生成为例,为了准确控制机器人姿态和目标跟踪轨迹,利用重复变换法,提出了简单可行,适用于任意节拖车系统的前行和倒车时的轨迹生成算法进行仿真,解决了带拖车机器人系统控制器关于目标和路径的控制,证明算法为机器人设计提供了可行性参考.%The tractor- trailer wheeled mobile robot (TTMR) is a typical nonholonomic, underactuated system.The general control theory can hardly be applied to this system. Because of the multi - body TTMR existence, the moving trajectory control is very complicated, especially when backward path control becomes a difficult problem for this kind of robot control. This paper takes parking trajectory generation as example, makes a tentativeness on TTMR to generate the trajectory based on RDK( Repeatedly Direct Kinematics) method. The feasible forward and backward trajectory generation algorithms for TTMR are proposed. The design complexity and the existing singularity for TTMR system are solved. Simulations show the effectiveness of the proposed method.