双惯性测量单元系统下四轮滑动转向机器人运动控制研究

摘要

四轮滑动转向机器人因其运动中存在滑动误差,导致机器人运动轨迹控制困难,而且在不同的地面条件下滑动转向的动力学参数不一样,导致滑动误差的不同,更增加了机器人转向的速度量、角速度量的预测和控制难度.通过使用两个惯性测量单元(IMU)建立四轮滑动转向机器人的速度、角速度计算模型,针对机器人运动中的差动命令对四轮机器人实施闭环控制,动态调整四轮轮速从而使得机器人运行更加精确平稳.实验结果表明使用轮速动态调整策略后机器人轨迹误差更小,轨迹更精确.%Due to sliding motion errors of a four-wheeled skid-steer mobile robot,it is difficult to control the robot to follow its trajectory.Also the dynamical parameters of the skid-steer on different ground conditions are different,causing different sliding errors and increasing the difficulty in the control and prediction of the robot's turning linear velocity and angular velocity.The linear velocity and angular velocity calculation model of the four-wheeled skidsteer robot is built with two inertial measurement units,and the model is used to take the closed loop control of the four-wheeled skid-steer mobile robot for its motion control,dynamically adjust four wheels separately and make the robot operate more precisely and smoothly.The experimental results show that with the dynamic wheel-velocity adjustment strategy,the robot runs more accurately with less sliding motion error when its trajectory is followed.