摘要
针对三轮全向足球机器人路径规划、位姿控制的特点,讨论了轨迹规划的控制问题,提出了一种基于微分平坦理论的轨迹规划的控制算法。此算法在轨迹跟踪控制中用来生成可行的期望轨迹,在路径规划的基础上研究三轮全向足球机器人动力学模型的轨迹规划方法,并且同时考虑控制量约束下的最优轨迹生成。仿真及实验结果表明,该算法具有控制精度较高,实时性强的特点。
In view of the Three-wheel Omni -directional Soccer Robot＇s path planning and pose controlling,a control problem of trajectory planning is discussed,the differential flatness theory is given out in this paper.This algorithm is generationing fea- sible and desired path in trajectory tracking control,on the basis of path planning research trajectory planning method of three-wheel omni-directional Soccer Robor＇s dynamic model and at the same time to consider the optimal trajectory gen- eration in control quantity constraints.
出处
《工业控制计算机》
2012年第11期72-74,共3页
Industrial Control Computer
关键词
足球机器人
微分平坦
轨迹规划
soccer robot,differential flatness,trajectory planning
