Silva-Ortigoza R, Márquez-Sánchez C, Marcelino-Aranda M, Marciano-Melchor M, Silva-Ortigoza G, Bautista-Quintero R, Ramos-Silvestre E R, Rivera-Díaz J C, Muñoz-Carrillo D
Instituto Politécnico Nacional, CIDETEC, Área de Mecatrónica, Unidad Profesional Adolfo López Mateos, 07700 México, DF, Mexico.
ScientificWorldJournal. 2013 Jul 11;2013:723645. doi: 10.1155/2013/723645. eCollection 2013.
This paper reports a solution for trajectory tracking control of a differential drive wheeled mobile robot (WMR) based on a hierarchical approach. The general design and construction of the WMR are described. The hierarchical controller proposed has two components: a high-level control and a low-level control. The high-level control law is based on an input-output linearization scheme for the robot kinematic model, which provides the desired angular velocity profiles that the WMR has to track in order to achieve the desired position (x∗, y∗) and orientation (φ∗). Then, a low-level control law, based on a proportional integral (PI) approach, is designed to control the velocity of the WMR wheels to ensure those tracking features. Regarding the trajectories, this paper provides the solution or the following cases: (1) time-varying parametric trajectories such as straight lines and parabolas and (2) smooth curves fitted by cubic splines which are generated by the desired data points {(x₁∗, y₁∗),..., (x(n)∗, y(n)∗)}. A straightforward algorithm is developed for constructing the cubic splines. Finally, this paper includes an experimental validation of the proposed technique by employing a DS1104 dSPACE electronic board along with MATLAB/Simulink software.
本文报告了一种基于分层方法的差速驱动轮式移动机器人（WMR）轨迹跟踪控制解决方案。描述了WMR的总体设计和构造。所提出的分层控制器有两个部分：高级控制和低级控制。高级控制律基于机器人运动学模型的输入-输出线性化方案，它提供了WMR为实现期望位置（x∗, y∗）和方位（φ∗）而必须跟踪的期望角速度曲线。然后，基于比例积分（PI）方法设计了低级控制律，以控制WMR车轮的速度，确保这些跟踪特性。关于轨迹，本文给出了以下情况的解决方案：（1）时变参数轨迹，如直线和抛物线；（2）由期望数据点{(x₁∗, y₁∗),..., (x(n)∗, y(n)∗)}生成的三次样条拟合的平滑曲线。开发了一种用于构造三次样条的简单算法。最后，本文通过使用DS1104 dSPACE电子板和MATLAB/Simulink软件对所提出的技术进行了实验验证。
