CN107085432B - 一种移动机器人的目标轨迹跟踪方法 - Google Patents
一种移动机器人的目标轨迹跟踪方法 Download PDFInfo
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- CN107085432B CN107085432B CN201710481270.2A CN201710481270A CN107085432B CN 107085432 B CN107085432 B CN 107085432B CN 201710481270 A CN201710481270 A CN 201710481270A CN 107085432 B CN107085432 B CN 107085432B
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- 238000000034 method Methods 0.000 title claims abstract description 44
- 230000015572 biosynthetic process Effects 0.000 claims abstract description 33
- 238000007493 shaping process Methods 0.000 claims abstract description 16
- 230000008859 change Effects 0.000 claims abstract description 11
- 238000013459 approach Methods 0.000 claims description 6
- 230000014509 gene expression Effects 0.000 claims description 6
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0291—Fleet control
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
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- Other Investigation Or Analysis Of Materials By Electrical Means (AREA)
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CN107085432B true CN107085432B (zh) | 2020-03-31 |
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Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
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CN108062024B (zh) * | 2017-12-15 | 2020-03-31 | 陕西理工大学 | 一种考虑阻力的移动机器人反演滑模控制方法 |
CN109032128B (zh) * | 2018-06-13 | 2020-04-10 | 江南大学 | 离散多agv非质点***的三角编队控制方法 |
CN109491381B (zh) * | 2018-11-06 | 2020-10-27 | 中国科学技术大学 | 基于观测器的多移动机器人自适应编队跟踪控制方法 |
CN116257044A (zh) * | 2021-12-09 | 2023-06-13 | 灵动科技(北京)有限公司 | 多机器人轨迹规划方法及计算机程序产品 |
Citations (7)
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CN101436073A (zh) * | 2008-12-03 | 2009-05-20 | 江南大学 | 基于量子行为粒子群算法的轮式移动机器人轨迹跟踪方法 |
CN101685309A (zh) * | 2008-09-24 | 2010-03-31 | 中国科学院自动化研究所 | 多机器人协调队形控制方法 |
CN104881044A (zh) * | 2015-06-11 | 2015-09-02 | 北京理工大学 | 一种姿态未知的多移动机器人***的自适应跟踪控制方法 |
CN105527960A (zh) * | 2015-12-18 | 2016-04-27 | 燕山大学 | 一种基于领航跟随的移动机器人编队控制方法 |
CN105607636A (zh) * | 2016-01-21 | 2016-05-25 | 浙江工业大学 | 一种基于积分滑模算法的轮式移动机器人主从式编队控制方法 |
CN106054922A (zh) * | 2016-06-22 | 2016-10-26 | 长安大学 | 一种无人机‑无人车联合编队协同控制方法 |
CN106094835A (zh) * | 2016-08-01 | 2016-11-09 | 西北工业大学 | 前轮驱动车式移动机器人的动态编队控制方法 |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
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JP5359220B2 (ja) * | 2008-11-21 | 2013-12-04 | 日産自動車株式会社 | モータ構造及びモータ製造方法 |
US9436187B2 (en) * | 2015-01-15 | 2016-09-06 | The United States Of America As Represented By The Secretary Of The Navy | System and method for decentralized, multi-agent unmanned vehicle navigation and formation control |
US20160334787A1 (en) * | 2015-05-14 | 2016-11-17 | King Fahd University Of Petroleum And Minerals | Multi-agent deployment protocol method for coverage of cluttered spaces |
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- 2017-06-22 CN CN201710481270.2A patent/CN107085432B/zh active Active
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101685309A (zh) * | 2008-09-24 | 2010-03-31 | 中国科学院自动化研究所 | 多机器人协调队形控制方法 |
CN101436073A (zh) * | 2008-12-03 | 2009-05-20 | 江南大学 | 基于量子行为粒子群算法的轮式移动机器人轨迹跟踪方法 |
CN104881044A (zh) * | 2015-06-11 | 2015-09-02 | 北京理工大学 | 一种姿态未知的多移动机器人***的自适应跟踪控制方法 |
CN105527960A (zh) * | 2015-12-18 | 2016-04-27 | 燕山大学 | 一种基于领航跟随的移动机器人编队控制方法 |
CN105607636A (zh) * | 2016-01-21 | 2016-05-25 | 浙江工业大学 | 一种基于积分滑模算法的轮式移动机器人主从式编队控制方法 |
CN106054922A (zh) * | 2016-06-22 | 2016-10-26 | 长安大学 | 一种无人机‑无人车联合编队协同控制方法 |
CN106094835A (zh) * | 2016-08-01 | 2016-11-09 | 西北工业大学 | 前轮驱动车式移动机器人的动态编队控制方法 |
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