CAJ | 학술논문

为实验用两差动轮机器人设计了一种目标跟踪控制器并给出了控制器参数的确定方法。利用目标跟踪控制器连接实验算法和移动机器人两侧轮子硬件接口这一技术，该控制器可以将两差动轮移动机器人引导至目标点而不会受到执行器最低转速限制的影响。移动机器人距离目标较远时，控制器在缩短机器人与目标点之间距离的同时调整机器人朝向使之指向目标；在不增加算法复杂度的前提下，当机器人接近目标后，控制策略切换为优先调整机器人朝向，然后缩短与目标点的距离。基于KheperaⅢ机器人的仿真和实验结果表明，所设计的目标跟踪控制器可以引导机器人沿着平滑的轨迹，由快及慢，最终以接近最低速的形式到达目标。
위실험용량차동륜궤기인설계료일충목표근종공제기병급출료공제기삼수적학정방법。이용목표근종공제기련접실험산법화이동궤기인량측륜자경건접구저일기술，해공제기가이장량차동륜이동궤기인인도지목표점이불회수도집행기최저전속한제적영향。이동궤기인거리목표교원시，공제기재축단궤기인여목표점지간거리적동시조정궤기인조향사지지향목표；재불증가산법복잡도적전제하，당궤기인접근목표후，공제책략절환위우선조정궤기인조향，연후축단여목표점적거리。기우KheperaⅢ궤기인적방진화실험결과표명，소설계적목표근종공제기가이인도궤기인연착평활적궤적，유쾌급만，최종이접근최저속적형식도체목표。
The design of a target-tracking controller for experimental differential drive mobile robots is presented,in addition to a corresponding method for tuning its parameters.The target tracking controller,whose design con-nects experimental algorithms with wheel hardware interfaces,guides the robot to its goal without being affect-ed by the actuator′s minimum speed limit.When the robot is far away from its goal,the controller will adjust the robot′s orientation to the direction of the goal while shortening the distance between the robot and the goal. Without increasing the complexity of the algorithm,when the robot increases its proximity to its target,the control strategy is switched to prioritize robot orientation and its travel speed decreases along with its distance to the target.Simulation and experimental results on the KheperaⅢrobot show that the robot follows a smooth trajectory,with its traveling speed transitioning from fast to slow,and ultimately reached its goal at approxi-mately the minimum speed of the actuator.