关键词: 轮式移动机器人, 轨迹跟踪, 分数阶滑模控制, 扩张状态观测器, B样条曲线

Abstract: Aiming at the problem that the Automated Guided Vehicle (AGV) based on QR code navigation cannot quickly and smoothly eliminate the error when the starting pose deviation is large,a correction system based on auxiliary tracking trajectory and fractional sliding mode controller was proposed. The AGV kinematics and dynamics model were given,and the fractional order sliding mode controller was designed based on the fractional order integral operator and Exponential Super Twisting Algorithm (ESTA). Assistance systems were designed to compensate for possible input saturation issues and enhance the ability to handle transient disturbances. The auxiliary tracking trajectory was generated by uniform cubic B-spline curve,and the genetic algorithm was used to solve the optimal curve under the constraints of curvature and velocity. Stability proof was given by Lyapunov theory. The simulation results show that the system can effectively deal with the problem of excessive deviation of the starting pose,and has faster convergence speed and good anti-interference performance.

Key words: wheeled mobile robot, trajectory tracking, FOSMC, extended state observer, B-spline curve