摘要
为了提高移动机器人的路径跟踪精度,提出一种基于PID控制的移动机器人的路径跟踪算法。首先建立机器人的运动学模型,并构建其运动控制系统,然后设计基于PID控制的移动机器人控制系统,并通过遗传算法对PID控制器的参数进行整定,提高系统稳态性和动态适应性能,最后采用Matlab 2012R测试移动机器人的路径跟踪效果。结果表明,本文算法可以得到实际理想路径十分相近的路径,获得了较高精度的路径跟踪结果,有助于机器人完成实际的导航任务。
In order to improve the accuracy of path tracking of mobile robot,a path tracking algorithm based on mobile robot with PID control is proposed. The kinematics model of mobile robot is established firstly,and the motion control system is constructed,and secondly design the mobile robot control system based on PID control,then parameters of the PID controller are determined by genetic algorithm to improve the stability and dynamic adaptation performance of the system,lastly,the simulation experiments is used to test path tracking effect of the mobile robot on Matlab2012 R.The results show that the path of the proposecd algorithm are very close to the actual ideal path,the path tracking results with higher accuracy are obtained,which are helpful for the robot to complete the navigation task..
出处
《激光杂志》
北大核心
2016年第2期110-112,共3页
Laser Journal
基金
北京自然科学基金(20124Z088)
