问题描述
在ros仿真平台(ros_tutorials)上做《履带式移动机器人轨迹跟踪控制技术研究》的仿真实验
跟踪控制公式:
① Lyapunov控制律下的跟踪函数:
v
p
=
v
B
cos
e
θ
+
K
2
e
x
{{\text{v}}_p}{\text{ = }}{{\text{v}}_B}\cos {e_\theta } + {K_2}{e_x}
vp = vBcoseθ+K2ex
ω
p
=
ω
B
+
e
y
v
B
K
1
+
K
3
sin
e
θ
K
1
{\omega _p}{\text{ = }}{\omega _B} + \frac{{{e_y}{{\text{v}}_B}}}{{{K_1}}} + \frac{{{K_3}\sin {e_\theta }}}{{{K_1}}}
ωp = ωB+K1eyvB+K1K3sineθ
② 原跟踪函数:
v
p
=
1
2
e
x
2
+
e
y
2
{{\text{v}}_p}{\text{ = }}\frac{1}{2}\sqrt {{e_x}^2 + {e_y}^2}
vp = 21ex2+ey2
ω
p
=
4
×
arctan
(
e
y
e
x
)
{\omega _p}{\text{ = }}4 \times \arctan (\frac{{{e_y}}}{{{e_x}}})
ωp = 4×arctan(exey)
关键词:ros、李雅普诺夫、跟踪控制、多话题发布与订阅
方法
这里以ros自带的乌龟案例为基础,进行改写。首先,生成第一只乌龟让其做圆周运动或直线运动,作为跟踪的目标;再生成第二只乌龟,用案例中的跟踪控制方法,作为对比实验;最后,生成第三只乌龟,用上文中的李雅普诺夫控制律设计的跟踪控制,进行实验。
代码下载运行
代码下载
在放置文件的路径下打开终端,运行
git clone https://gitee.com/Luweizhiyuan2020/demo02_ws.git
编译文件
cd demo02_ws
catkin_make
运行文件
roscore
source demo02_ws/devel/setup.bash
roslaunch learning_tf start_tf_demo_lyapunov.launch
代码
/**
* 底盘控制基于利亚普洛夫控制律跟踪控制
*/
#include <ros/ros.h>
#include <tf/transform_listener.h>
#include <geometry_msgs/Twist.h>
#include <turtlesim/Spawn.h>
#include "turtlesim/Pose.h"
#include <math.h>
static double x1,yl,yaw1,pitch1,roll1, x2,y2,yaw2,pitch2,roll2,
dx,dy,dyaw ,dpitch,droll, yaw, pitch, roll,
ex,ey,eyaw, ex_t,ey_t,eyaw_t,
v1,omega1,v2,omega2,
K1,K2,K3;
static ros::Subscriber sub1;
static ros::Subscriber sub2;
static ros::Publisher turtle_vel;
void doPose1(const turtlesim::Pose::ConstPtr& p){
x1=p->x;
yl=p->y;
yaw1=p->theta;
v1=p->linear_velocity;
omega1=p->angular_velocity;
}
void doPose2(const turtlesim::Pose::ConstPtr& p){
x2=p->x;
y2=p->y;
yaw2=p->theta;
v2=p->linear_velocity;
omega2=p->angular_velocity;
}
// 方法一:订阅在发布中运行
int main(int argc, char** argv)
{
setlocale(LC_ALL,"");
// 初始化ROS节点
ros::init(argc, argv, "my_tf_listener");
// 创建节点句柄
ros::NodeHandle node;
// 请求产生turtle3
ros::service::waitForService("/spawn");
ros::ServiceClient add_turtle = node.serviceClient<turtlesim::Spawn>("/spawn");
turtlesim::Spawn srv;
add_turtle.call(srv);
sub1 = node.subscribe<turtlesim::Pose>("/turtle1/pose",1000,doPose1);
sub2 = node.subscribe<turtlesim::Pose>("/turtle3/pose",1000,doPose2);
// 创建发布turtle2速度控制指令的发布者
turtle_vel = node.advertise<geometry_msgs::Twist>("/turtle3/cmd_vel", 10);
// 创建tf的监听器
tf::TransformListener listener;
ros::Rate rate(10);
while (node.ok())
{
// 获取turtle1与turtle2坐标系之间的tf数据
tf::StampedTransform transform;
try
{
listener.waitForTransform("/turtle3", "/turtle1", ros::Time(0), ros::Duration(3.0));
listener.lookupTransform("/turtle3", "/turtle1", ros::Time(0), transform);
}
catch (tf::TransformException &ex)
{
ROS_ERROR("%s",ex.what());
ros::Duration(1.0).sleep();
continue;
}
dx=x1-x2;
dy=yl-y2;
dyaw=yaw1-yaw2;
ex_t=cos(yaw2)*dx+sin(yaw2)*dy;
ey_t=-sin(yaw2)*dx+cos(yaw2)*dy;
eyaw_t=dyaw;
ex=transform.getOrigin().x();
ey=transform.getOrigin().y();
transform.getBasis().getEulerYPR(eyaw, pitch, roll);
ROS_INFO("乌龟1位姿信息:x=%.2f,y=%.2f,theta=%.2f,lv=%.2f,av=%.2f",
x1,yl,yaw1,v1,omega1);
ROS_INFO("乌龟2位姿信息:x=%.2f,y=%.2f,theta=%.2f,lv=%.2f,av=%.2f",
x2,y2,yaw2,v2,omega2);
ROS_INFO("乌龟位姿差:ex=%.2f,ey=%.2f,etheta=%.2f",
transform.getOrigin().x()-ex_t,transform.getOrigin().y()-ey_t,eyaw-eyaw_t);
// 根据turtle1与turtle3坐标系之间的位置关系,发布turtle2的速度控制指令
geometry_msgs::Twist vel_msg;
K1=0.909;
K2=1.250;
K3=0.818;
vel_msg.linear.x = v1*cos(eyaw)+K2*ex;
vel_msg.angular.z = omega1+ey*v1/K1+K3*sin(eyaw)/K1;
// vel_msg.angular.z = 4.0 * atan2(transform.getOrigin().y(),
// transform.getOrigin().x());
// vel_msg.linear.x = 0.5 * sqrt(pow(transform.getOrigin().x(), 2) +
// pow(transform.getOrigin().y(), 2));
turtle_vel.publish(vel_msg);
rate.sleep();
ros::spinOnce();
}
return 0;
};
注:①这里只提供了利亚普洛夫控制律跟踪控制的代码,其他代码请参考古月居的坐标变换:https://www.bilibili.com/video/BV1zt411G7Vn?p=18
②重点多话题订阅和发布
结果展示
参考
链接: https://www.bilibili.com/video/BV1zt411G7Vn?p=18.
链接: http://qikan.cqvip.com/Qikan/Article/Detail?id=676015892.