基于粒子滤波的欠驱动移动机器人多目标点跟踪控制

Multiple Way-points Tracking Control with Particle Filter for Under-actuated Mobile Robot

摘要:

针对欠驱动移动机器人的多目标点追踪问题，提出了一种基于粒子滤波的高精度跟踪控制方法。具体地，在考虑移动机器人采样噪声的情况下，首先利用粒子滤波对移动机器人的位置信息进行处理，得到精准可靠的移动机器人状态信息。在此基础上，根据欠驱动移动机器人的运动学模型以及目标点的分布状况，设计基于反馈控制的多目标点跟踪控制方法。相对于传统的欠驱动移动机器人目标点跟踪控制算法，改进了该控制方法中增益参数的约束条件，有效避免了移动机器人在接近目标点时产生的奇异现象，有效提高了移动机器人对目标点的跟踪精度。此外，分析了该目标点跟踪控制系统的稳定性，并通过数值仿真验证了所提方法的可行性与有效性。

Abstract:

In this paper,we consider the multi-target points tracking control problems of under-actuated mobile robot, which aiming at proposing a high-precision tracking control method based on particle filter. In order to filtering the measurement noise in the sampled position,a particle filter based algorithm is developed for the mobile robots. Then, a feedback control scheme for the under-actuated mobile robot is proposed to track the given targets. Comparing with traditional under-actuated robot target tracking control algorithm, the constraint conditions of parameters in the control method is provided to improve system tracking precision and effectively avoid the singular phenomenon. The stability of proposed target tracking control system is strictly analyzed. In final, the feasibility and effectiveness of proposed method is verified through numerical simulation.