Single mobile robot optimal itineration control method based on target tracking control strategy

Abstract

Provided is a single mobile robot optimal itineration control method based on a target tracking control strategy. The method comprises seven steps of map construction, task description, topology construction, optimal path searching, task decomposition, target tracking control, and pose information feedback. The method comprises: firstly, based on a linear temporal logic theory, combining a constructed weighting switching system and a linear temporal logic task formula, establishing task feasible network topology; then, using an optimal path searching method based on a Dijkstra algorithm to search an optimal path, and storing discrete coordinate points in environment corresponding to the optimal path in cache, and sending the discrete coordinate points to a target tracking controller in order; then, using a target tracking control method to give a controlled quantity to control a robot to move to a target point according to distance between the robot and the target point and deviation of angles; and finally, in an operation process of the robot, using a global camera to acquire present position coordinate and orientation information of the robot in real time, and feeding back to the target tracking controller, so as to realize closed-loop control.

Description

technical field [0001] The system involves the fields of computer image processing, path planning, mobile robot control, communication, etc., and especially relates to an optimal tour control method for a single mobile robot based on a target tracking control strategy. Background technique [0002] Instructing, planning, and controlling robots to replace human work is one of the difficulties in the field of industrial automatic control, and has received extensive attention in recent years. The main goal of robot control is to use a high-level language that approximates human logic to indicate tasks to the robot, so that the robot can autonomously convert the high-level language into low-level primitive commands to complete the task under objective constraints, where the primitive commands include establishing inputs based on feedback controllers The corresponding relationship between outputs, according to the communication protocol to complete the information exchange betwee...

AI Technical Summary

Problems solved by technology

Among them, fuzzy control needs to formulate control strategies based on experience and experimental data, the precision is not high, and the adaptive ability is limited; vision-based navigation control needs to collect and process image data in real time, and the amount of processed data is large. For light sources, algorithms and hardware configuration The efficiency requirements are high; learning and control are poor in versatility, and machine learning and parameter adjustment are a relatively complicated process with poor performance; mobile robot control algorithms based on infrared tracking have special requirements for light, and need to be given infrared recognition object, limited scope

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