双轮差动机器人曲线算法设计与实现

A Curve Algorithm Design And Implementation of Differential Drive Mobile Robot

摘要:

针对非完整约束系统的双轮差动机器人转向不灵活、绕过障碍时行进速度不连续这一问题,分析了双轮差动移动机器人运动学模型,提出了路径规划圆弧化的方法；在此基础上设计的圆弧控制算法,使机器人能够连贯绕过障碍,匀速达到目的地；算法使机器人的平均速度由0.9 m/s提高到1.6 m/s,满足了对机器人快速机动的要求,缩短了行进时间,仿真结果证明了上述控制算法的可行性,并且该运动控制算法已应用于Robocon比赛。

Abstract:

This paper aims to solve the problem of the differential drive mobile robot with nonholonomic constraints system inflexible steering around the obstacle and, traveling velocity discontinuity, analyzes the differential drive mobile robot kinematics model, and provides the arced-path planning method. Base on these ideas, the arc control algorithm was designed, which can make the robot around the obstacle coherently and,reach the destination uniformly. Increasing the average speed of the robot from 0.9 m/s to 1.6 m/s, meets the requirements of rapid maneuver, shortening the travel time. The simulation results proved the feasibility of motion control algorithm that has been applied to the Robocon Competition.