基于模型预测控制的四轮独立转向机器人高速轨迹跟踪

MPC-based high-speed trajectory tracking for 4WIS robot.

作者信息

Liu Xinxin, Wang Wei, Li Xuelong, Liu Fusheng, He Zhihang, Yao Yanzhang, Ruan Huaping, Zhang Tong

机构信息

Hubei Key Laboratory of Waterjet Theory and New Technology, Wuhan University, Hubei Wuhan 430072, China; School of Power and Mechanical Engineering, Wuhan University, Hubei Wuhan, 430072, China.

出版信息

ISA Trans. 2022 Apr;123:413-424. doi: 10.1016/j.isatra.2021.05.018. Epub 2021 May 15.

DOI:10.1016/j.isatra.2021.05.018

PMID:34052011

Abstract

Compared to omnidirectional wheel robots and Mecanum wheel robots, four-wheel independent steering (4WIS) robots are more efficient. In recent years, 4WIS robot become the best choice for high-speed maneuverable mobile robots. However, the delay of the steering motor action and the control command exceeding the maximum speed of the steering motor make it difficult for the 4WIS robot to perform high-precision high-speed trajectory tracking. This paper proposes a high-speed trajectory tracking method combining the dynamics of the 4WIS robot. The A* algorithm is used for path planning, and then combined with the robot dynamics performance for trajectory planning. A 4WIS robot kinematics model and a model predictive control (MPC) controller with dynamic constraints are established. Simulations and experiments support the effectiveness and practicability of the trajectory tracking method. The high-speed trajectory tracking control of the 4WIS robot is realized.

摘要

与全方位轮式机器人和麦克纳姆轮式机器人相比，四轮独立转向（4WIS）机器人效率更高。近年来，4WIS机器人成为高速可操纵移动机器人的最佳选择。然而，转向电机动作的延迟以及控制命令超过转向电机的最大速度，使得4WIS机器人难以进行高精度高速轨迹跟踪。本文提出了一种结合4WIS机器人动力学的高速轨迹跟踪方法。采用A*算法进行路径规划，然后结合机器人动力学性能进行轨迹规划。建立了4WIS机器人运动学模型和具有动态约束的模型预测控制（MPC）控制器。仿真和实验验证了轨迹跟踪方法的有效性和实用性。实现了4WIS机器人的高速轨迹跟踪控制。