基于A*与多参考点MPC的差动机器人路径规划与跟踪控制

段孟滨,白国星,孟宇,顾青,汪振,伊力夏提·伊力哈木江,刘绍冲

Path planning and tracking control for differential-drive robots based on A* and multi-reference point MPC

Mengbin DUAN,Guoxing BAI,Yu MENG,Qing GU,Zhen WANG,Elxat ELHAM,Shaochong LIU

表 3 不同控制系统的位移误差与航向误差

Tab.3 Displacement and heading errors of different control systems

控制系统 $ {e}_{\mathrm{d},\max }/\mathrm{m} $ $ {e}_{\mathrm{d},\mathrm{m}\text{ean}}/\text{m} $ $ {e}_{\text{h},\mathrm{m}\text{ax}}/\text{rad} $ $ {e}_{\text{h},\mathrm{m}\text{ean}}/\text{rad} $ PP 0.1551 0.0291 0.7850 0.0678 M-MPC 0.0732 0.0170 0.7862 0.0640