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管道曲面上輪式機(jī)器人的極值軌道研究
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    摘要:

    對(duì)輪式機(jī)器人在管道曲面上的極值軌道問(wèn)題進(jìn)行了研究。在管道曲面上建立了輪式機(jī)器人的動(dòng)態(tài)模型,，證明輪式機(jī)器人是可控的,，并且存在時(shí)間最優(yōu)軌道,，利用龐特里亞金最大值原理給出了輪式機(jī)器人最小時(shí)間控制的必要條件，并給出了極值軌道的結(jié)構(gòu)方程,，通過(guò)結(jié)構(gòu)方程分析了管道曲面上移動(dòng)機(jī)器人的極值軌道,，指出極值軌道的控制變量完全由結(jié)構(gòu)方程來(lái)確定，并且機(jī)器人的極值軌道由2種基本軌道類型的有限組合而成,，給出了這2種基本軌道類型控制變量的變化情況,。

    Abstract:

    The extremum trajectories of wheeled robot on pipeline surfaces was studied. The dynamic model of the wheeled mobile robot on pipeline surfaces was presented, and then the controllability of robots and the existence of time optimal trajectories were proved. By applying Pontryagin's maximum principle, the necessary conditions of time optimal control were obtained, and the structure equations of extremal trajectories were given. The extremum trajectories were studied with the analysis of structure equations. It was notified that control variables of the extremum trajectories were defined by structure equations. The extremum trajectories were combined finitely by two basic types of trajectories. Moreover, the exact values for the control variables of this two basic types were given.

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肖剛,劉三陽(yáng),余國(guó)林.管道曲面上輪式機(jī)器人的極值軌道研究[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),2007,38(11):114-117.[J]. Transactions of the Chinese Society for Agricultural Machinery,2007,38(11):114-117.

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