基于自抗扰控制的巷道清洗机器人路径跟踪控制研究

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中图分类号：TP242.3 文献标志码：A 文章编号：1671-5276（2025）06-0239-06

Abstract：Inordertoalleviatethelarge deviationdistancebetweenthecontrolledpathandtheexpectedpathdue tothe significantimpactofwalkingroadenvironmentoftherobotonthecontrolefectinthepath rackingcontrolof tunnelcleaning robots，apath trackingcontrolmethodfortunelcleaningrobotsbasedonself disturbancerejectioncontrol isproposed.Basedon the mechanicalparametersof therobot'swalkingstructure，correspondingdynamicmodeling isconducted.Bycollctingpoint clouddataofthetunnelenvironment，theroadflatesscoeficientoftherobotswalkingenvironmentiscalculatedtoquantifythe interferencefactorsinthewalkingenvironment.Onthisbasis，combinedwiththedynamic modelingof therobot，aPIDstructure capableofselfdisturbancerejectioncontrolofroadroughnessisestablishedtoachevepathtrackingcontrolofthetunelcleaning robot.Theexperimentalresultsshowthattheproposed method performswellincontrolaccuracy，withasmallofsetdistance betweenthecontrolledpathandtheexpectedpath，andhasgoodapplicationprospects inthefieldofpath trackingcontrolfor tunnel cleaning robots.

Keywords：tunnel cleaningrobot；path tracking；self disturbancerejectioncontrol;dynamicmodeling；proportional integral derivative control

0 引言

巷道清洗机器人能够实现自动化的巷道清洗与维护，在长距离的巷道环境管理中有着广泛的应用需求。（剩余6891字）