Tracking control, which is applied to the target mobile robots in the process of rushing toward the trainees, is one of the critical technologies in the advancement of anti-terrorist training. Considering the disadvantages of various types of traditional tracking methods, this paper proposes a novel laser ray tracking mechanism and a backstepping controller for the target mobile robot that is used in shooting ranges. The mechanism and principle of the laser ray tracking is illustrated in detail. Based on the unique structure, the light intensity distributions are measured to further locate the laser spots on the cut-ray boards. Then, the relationship between the positions of the laser spots on the cut-ray boards and the pose of the target mobile robot is demonstrated. According to the features of the tracking situation, a backstepping controller is designed to achieve the laser ray tracking. After that, the inverse kinematics of the wheeled skid-steering mobile robot is analyzed to map the linear and angular velocities of the robot to the velocities of its left wheels and right wheels. The conventional proportional–integral–derivative controller is applied in the experiments to compare with the proposed backstepping controller. The experimental results show that the proposed controller is more robust, and converges faster for the laser ray tracking.

中文翻译：

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用于目标移动机器人激光射线跟踪的反步控制器

跟踪控制应用于目标移动机器人冲向受训者的过程中，是推进反恐训练的关键技术之一。针对各种传统跟踪方法的不足，本文提出了一种新型的激光射线跟踪机制和一种用于靶场的目标移动机器人的反步控制器。详细阐述了激光射线跟踪的机理和原理。基于独特的结构，测量光强分布以进一步定位切割板上的激光点。然后，演示了激光点在切割射线板上的位置与目标移动机器人的位姿之间的关系。根据跟踪情况的特点，设计了一个反步控制器来实现激光射线跟踪。之后，分析轮式滑移移动机器人的逆运动学，将机器人的线速度和角速度映射到其左轮和右轮的速度。在实验中应用传统的比例积分微分控制器与所提出的反步控制器进行比较。实验结果表明，所提出的控制器具有更强的鲁棒性，并且对于激光射线跟踪收敛速度更快。在实验中应用传统的比例积分微分控制器与所提出的反步控制器进行比较。实验结果表明，所提出的控制器具有更强的鲁棒性，并且对于激光射线跟踪收敛速度更快。在实验中应用传统的比例积分微分控制器与所提出的反步控制器进行比较。实验结果表明，所提出的控制器具有更强的鲁棒性，并且对于激光射线跟踪收敛速度更快。