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Pull type mobile robot parallel parking method

A mobile robot and parallel parking technology, which is applied in the parallel parking field of trailer-mounted mobile robots, can solve the problems of instability and difficulty of trailer subsystems, complex anti-parallel parking problems of trailer-mounted mobile robots, etc.

Inactive Publication Date: 2014-08-06
UNIV OF JINAN
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Due to the instability of the trailer subsystem during reverse motion, the problem of reverse parallel parking for trailered mobile robots is more complex and difficult

Method used

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  • Pull type mobile robot parallel parking method
  • Pull type mobile robot parallel parking method
  • Pull type mobile robot parallel parking method

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Embodiment Construction

[0045] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0046] In the parallel parking method of the trailer-type mobile robot of the present invention, the trailer-type mobile robot includes a tractor and a trailer, and the tractor and the trailer are connected through a link point, and the link point is provided with a vehicle body longitudinal line for measuring the opposite side of the trailer. An angle sensor based on the rotation angle of the longitudinal line of the tractor's body; such as figure 1 As shown in the figure, the configuration diagram of the tractor and the trailer and the setting diagram of the car body parameters are given. The tractor is driven by the rear wheels and steered by the front wheels. The steering angular velocity of the front steering wheels of the tractor is , the longitudinal speed of the tractor is , and there is no slippage between the wheels and the ground; the dist...

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Abstract

The invention discloses a pull type mobile robot parallel parking method. The method comprises the steps of (a) defining an initial configuration and terminal point configuration; (b) setting reference paths as OS, SQ, QG; (c) establishing a dynamitic model under the QG path; (d) establishing a dynamitic model under the SQ path; (e) solving path Path_G, and calculating the reference path Path_G of n curves started from the forward direction of a G point configuration; (f) solving path Path_S, and calculating the reference path Path_S of n curves started from the backward direction of an S point configuration; (g) finding out a tangent or an approximate tangent intersection point Q; (h) determining a parking path; (i) controlling parking, namely, controlling the pull type mobile robot to carry out parking. According to the pull type mobile robot parallel parking method, under the condition that the initial configuration and the terminal point configuration are known, the optimal parking path can be calculated automatically, automatic parking can be achieved under the action of a fuzzy controller, and a theoretical foundation is laid for automatic parallel parking of existing pull type mobile robots.

Description

technical field [0001] The present invention relates to a parallel parking method of a trailer-type mobile robot, more specifically, it relates to a parallel parking method of a trailer-type mobile robot which firstly calculates a parking path and then uses a fuzzy controller to control parking. Background technique [0002] Tractor-trailer Mobile Robot (TTMR) is a special kind of mobile robot, which consists of a front-end tractor (tractor) and multiple passive trailers (trailer) dragged by it. The towing vehicle performs the steering and driving functions while the trailer follows the towing vehicle. On the one hand, the trailer-type mobile robot has the motion ability of the mobile robot, and on the other hand, it can expand other functions of the mobile robot. For example, a cleaning robot can tow a truck for cleaning and collecting garbage behind the mobile robot, thereby reducing costs and improving efficiency; in addition, the rescue robot can increase its transporta...

Claims

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Application Information

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IPC IPC(8): B60W30/06
CPCB60W10/18B60W10/20B60W30/06
Inventor 程金张勇王中华
Owner UNIV OF JINAN
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