四輪式移動機(jī)器人非完整運(yùn)動控制

針對四輪式機(jī)器人做非完整運(yùn)動時(shí)系統(tǒng)的非完整性的問題，將四輪式機(jī)器人運(yùn)動規(guī)劃轉(zhuǎn)化為非線性控制系統(tǒng)的優(yōu)化問題。提出了對優(yōu)化變量進(jìn)行浮點(diǎn)數(shù)編碼的改進(jìn)遺傳算法，使系統(tǒng)控制精度得到改善。同時(shí)將改進(jìn)的遺傳算法采用最優(yōu)個(gè)體保留策略，設(shè)計(jì)交叉參數(shù)和自適應(yīng)變異參數(shù)，確保算法具有良好的收斂性。通過數(shù)字仿真實(shí)驗(yàn)，證明了該方法的對四輪式機(jī)器人非完整運(yùn)動規(guī)劃問題具有可操作性。The optimal motion planning problem of four wheeled mobile robot systems, due to the nonholonomic constraints, is usually transformed into an optimal control problem of nonlinear system. The ameliorated genetic algorithm of optimal control for motion planning is presented with encoding the optimized variables with float-point number. The strategy the best individual to be reserved in the ameliorated genetic algorithm operation is applied. With appropriate crossover parameter and self-adaptive aberrance factor, the convergence of the algorithm is improved and the system’s motion precision is leveraged. The numerical simulation indicates the effectiveness of the algorithm for motion control of four wheeled mobile robot systems.