采用惯性测量单元的移动机器人轨迹跟踪方法研究-控制理论与应用.PDF

30 3 Vol. 30 No. 3 2013 3 Control Theory Applications Mar. 2013 DOI: 10.7641/CTA.2013.12053 (, 210094) : , , . (proportional-differential, PD). 40 MHz 12 ms. PID , . (micro electro-mechanical system, MEMS), . : ; PD; : TP273 : A Path tracking of a mobile robot using inertial measurement unit ZHANG Chi (Mechanical Engineering College, Nanjing University of Science and Technology, Nanjing Jiangsu 210094, China) Abstract: Many approaches for trajectory tracking of nonholonomic mobile robots have been proposed. Most of them are designed based on the control of robot dynamics or adopt the complicated kinematics control, which are not suitable for real-time engineering applications without powerful computing devices. A real-time tracking controller based on PD controller is presented for nonholonomic mobile robot. This algorithm holds a time cost of only 12 ms for each control loop in a 40 MHz embedded controller. A nonlinear-PID based velocity controller for DC driving motors is integrated with the proposed tracking controller to fulfill the path tracking control of a wheeled mobile robot (WMR). To estimate the yaw angle of WMR, a low-cost micro electro-mechanical system (MEMS) measurement unit is employed in the experimental setup. The experimental results show the effectiveness of the proposed method. Key words: trajectory tracking; PD controller; wheeled mobile robot 1 Introduction For the kinematic control, there are trajectory track-