关键词: 自动控制技术, 移动机器人, 前置追踪, 鲁棒性, 自适应变结构控制

Abstract:

A head pursuit tracking method is proposed to reduce the speed of mobile robots during the course of tracking moving targets. The tracking law positions the mobile robot ahead of the target and to move along the target trajectory. Thus the robot can capture the target in front of the target trajectory, and the speed of the robot is required to be lower than that of the target. The tracking mathematical model of the mobile robot and the target is derived, and a nonlinear variable structure tracking algorithm is presented based on Lyapunov stability theory. Meanwhile an adaptive algorithm is proposed to estimate the uncertain acceleration of the target. Simulation results verify the tracking model and the effectiveness of the tracking algorithm.

Key words: automatic control technology, mobile robots, head pursuit, robustness, adaptive variable structure control