A trajectory tracking control method based on two-wheel differential driving comprises the steps that a coordinate system is established with the starting point of a two-wheel differential robot as the original point, a target trajectory at each moment and a motion trajectory of the two-wheel differential robot are decomposed according to the X axis and the Y axis, and the deviation and angle deviation of the target trajectory and the motion trajectory on the two axes are obtained; two PID position controllers are established on the X axis and the Y axis respectively, the linear speed of the center of the vehicle body at the next moment is obtained through deviation control, and meanwhile a PID attitude controller is established according to angle deviation to obtain the angular speed of the center of the vehicle body at the next moment. And finally, decoupling the central line speed and the angular speed of the vehicle body according to the analysis of the two-wheel differential mathematical model to obtain the speeds of the left wheel and the right wheel at the next moment, and continuously correcting the speeds of the two wheels to realize trajectory tracking. Cost is greatly saved, the method is simple and easy to implement, and the tracking effect is good.
一种基于两轮差速驱动的轨迹跟踪控制方法,以两轮差速机器人出发点为原点建立坐标系将每一时刻的目标轨迹与两轮差速机器人运动轨迹按照X轴和Y轴进行分解,获得目标轨迹与运动轨迹在两轴上的偏差以及角度偏差,在X轴与Y轴分别建立两个PID位置控制器,通过偏差控制获取下一时刻车体中心的线速度,同时根据角度偏差建立一个PID姿态控制器获取下一时刻车体中心的角速度。最后根据两轮差速数学模型的分析对车体中心线速度和角速度进行解耦,获得下一时刻左右两轮速度,不断修正两轮速度从而实现轨迹跟踪。本发明极大的节省了成本,方法简单容易实现,跟踪效果良好。
Trajectory tracking control method based on two-wheel differential driving
一种基于两轮差速驱动的轨迹跟踪控制方法
2024-01-26
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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