Path Following Control Method of Tracked Mobile Robot Based on Heuristic Dynamic Programming

被引：0
|
作者：
Song Y. [1 ,2 ]
Zhang Y. [1 ,2 ]
Yao Q. [1 ,2 ]
Yuan S. [3 ]
Liao J. [1 ,2 ]
Liu L. [1 ,2 ]
机构：
[1] School of Engineering, Anhui Agricultural University, Hefei
[2] Anhui Province Engineering Laboratory of Intelligent Agricultural Machinery and Equipment, Hefei
[3] Hefei CAS-Juche Technology Co., Ltd., Hefei
来源：
Nongye Jixie Xuebao/Transactions of the Chinese Society for Agricultural Machinery | 2019年 / 50卷 / 11期
关键词：
Feedforward neural network; Heuristic dynamic programming; Path following; Tracked robot;
D O I：
10.6041/j.issn.1000-1298.2019.11.003
中图分类号：
学科分类号：
摘要：
Aiming at the problem that the traditional path following control method of mobile robot requires manual tuning parameters and lacks of self-optimization ability, a path following control method based on heuristic dynamic programming (HDP) was proposed. Firstly, the error state equation of the path following system was established based on the structure of tracked robot system. Secondly, a path following controller based on HDP algorithm was proposed. The return function was designed by synthesizing the error performance index and the following stability index. A multi-layer feedforward neural network was used to establish the actuator and evaluation modules, and the online optimization rules of network parameters were derived. Thirdly, the path following performance of HDP method was verified by numerical simulation and system test. The experimental results showed that the controller based on the HDP algorithm of the mean absolute error was 0.04 m and the root mean square error was 0.06 m when following a straight line, 0.01 m and 0.06 m when following a obtuse angle steering curve, and 0.03 m and 0.09 m when following an acute angle steering curve, and the method based on HDP can obtain high precision control effect without repeated debugging control parameters, and it improved the environmental adaptability and autonomous optimization ability of the path following control method for mobile robots. © 2019, Chinese Society of Agricultural Machinery. All right reserved.
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页码：24 / 33
页数：9
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