惯性参数对两轮差速驱动移动机器人运动的影响.doc


惯性参数对两轮差速驱动移动机器人运动
的影响#
马勤勇1,黄宇1,周恩2,窦雪倩1,李楠1,王牛1**
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(1. 重庆大学自动化学院,重庆 400030;
2. 重庆大学光电工程学院,重庆 400030)
摘要:本文分析了两轮差速驱动移动机器人的惯性参数与移动机器人运动轨迹的相互影响,
结合直流电机系统非线性模型和移动机器人运动学模型,得到了反映移动机器人惯性参数影
响的两轮差速驱动移动机器人运动模型。将考虑和不考虑惯性参数对电机系统影响两种情况
分别进行了直线行驶和曲线行驶的比较。仿真对比表明,在快速运动情况下考虑和不考虑惯
性参数对移动机器人运动轨迹的影响具有较大差异。
关键词:移动机器人;惯性参数;运动学模型;电机模型;遗传算法
中图分类号:TP242
Effect of inertia parameters on the motion of differentially
driven two-wheeled Mobile robot
MA Qinyong1, HUANG Yu1, ZHOU En2, DOU Xueqian1, LI Nan1, WANG Niu1
(1. College of Automation, Chongqing University, ChongQing 400030;
2. College of Optoelectronic Engineering,Chongqing University, ChongQing 400030)
Abstract: For differentially driven two-wheeled mobile robot, the interrelationship is analyzed
between inertia parameters and the trajectory of wheeled mobile robot. Through bined study
on the robot’ kinematic model and the DC motor system’s nonlinear model, the motion model
showing the effect of inertia parameters is derived. As for whether or not inertia parameters are
considered, we parative trials when the robot moves in the direction across a straight
line as well as a curve respectively. Simulation results show that the trajectory with considering
the impact of inertia parameters on the robot have a bigger difference than that without
considering it.
Keywords: mobile robot; inertia p