关键词: 车式移动机器人, 轨迹跟踪, 非完整系统, 人工场

Abstract:

The problem of trajectory tracking of an uncertain car-like mobile robot with nonholonomic constraints is analyzed,and an adaptive trajectory tracking control method is presented based on the analyses of kinematic mo-dels.In the Droposed control method,a state diferential feedback procedure is used to stabilize the robot and an artificial field combined with the posture error is introduced to navigate the robot.The robustness of the proposed controller is then confirmed by means of Lyapunov stability theory.Simulated results of the robot respectively tIlacking a line and a circle indicate that the proposed method enables the robot to track an ideal trajectory in the navigation.

Key words: car-like mobile robot, trajectory tracking, nonholonomic system, artificial field