Abstract: Aiming at the robust control problem of mobile robot’s trajectory tracking in shop floor logistics,a collision avoidance decision and trajectory tracking control method based on reference trajectory information was proposed.The collision avoidance trigger condition was constructed based on the global information of reference trajectory,which was more accurate than the existing trigger condition based on the current relative position and relative velocity information,avoiding unnecessary collision avoidance maneuver.By means of the global information of reference trajectory and collision avoidance trigger condition,the model predictive control algorithm was designed for mobile robot trajectory tracking,which took collision avoidance constraints into account.The simulation results showed that the proposed method had good collision avoidance and trajectory tracking performance under time disturbance and position perturbation,so that robust trajectory tracking control of multiple robots could be realized under various scenarios.

Key words: mobile robots, reference trajectory, trajectory tracking, collision avoidance decision

摘要： 针对车间物流移动机器人轨迹跟踪的鲁棒控制问题,提出一种基于参考轨迹信息的避碰决策及轨迹跟踪控制方法。首先,基于参考轨迹全局信息构建了避碰触发条件,较现有的基于当前相对位置和相对速度信息的避碰条件更为精准,避免非必要的避碰动作;然后,综合考虑参考轨迹全局信息和避碰触发条件,设计了考虑避碰约束的移动机器人模型预测轨迹跟踪控制算法。仿真结果表明,本文所提方法在时间扰动和位置扰动下具有良好的避碰与轨迹跟踪性能,可实现多种场景下多移动机器人的鲁棒轨迹跟踪控制。

关键词: 移动机器人, 参考轨迹, 轨迹跟踪, 避碰决策