展望

目前课题处于初期发展阶段，已完成的控制策略研究主要偏向于 WMR 底层 动力学上的研究，保证了系统在动力学上具有很好的自适应和抗干扰能力，但由 于实验条件及时间上的限制，尚有一些研究工作可待开展，现提出希望对同领域 的科研者有所帮助。

1. 移动机器人在线路径规划

本文中在 WMR 动力学控制策略方向提出了 µ-synthesis 和 ARC 两种控制方 法，提高 WMR 在不同工况中的控制精度，也完成了轨迹线跟踪与二叉树路径规 划的验证实验，不过由于实验平台的限制，路径规划尚在离线中完成。在日益智 能化的生产及日常生活中，高效可靠的在线路径规划将能更大范围地提高 WMR 的应用。

2. 多机器人协调运动控制

WMR 所处的环境往往是实际变动的，多 WMR 的协调控制更为复杂。通常 来说，相互协调的 n 个 WMR 系统的能力远大于一个 WMR 的 n 倍，其控制算法 要求具有更高的实时性，具体很高的研究价值。

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浙江大学硕士学位论文 附录 A

附录 A

在轮式移动机器人控制系统的研究中，包含了实验平台的搭建、系统建模、

控制器设计与实验验证等几大块工作，下面附上工作中设计的 matlab 与 C 语言 等程序代码内容