关键词: 移动机器人, 运动学, 轨迹跟踪, 学习算法

Abstract: To improve the repetitive tracking performance of autonomous mobile robot for a class of special curves, the robots kinematics model was studied in polar coordinates; an openclosedloop Ptype iterative learning control (ILC) algorithm which is described in discretetime domain was applied, and the convergence proof of the ILC algorithm was presented under the given conditions. With the increasing iteration times, a better stabilization and convergence rate of the system can be achieved under dynamic uncertain environment. By taking the simulation control law as the initial control inputs on real robot platform firstly, the real control law can be obtained with less iterations under practical environment. The simulation results show good performance for tracking and the real experimental results verify the feasibility and efficiency on actual mobile robot platform.

Key words: mobile robot, kinematics, trajectory tracking, learning algorithm