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Path control method and system for robot

A path control and robotics technology, applied in the field of robotics, can solve the problems of unsightly walking posture of robots, high requirements for robot walking speed, and high requirements for planning paths

Active Publication Date: 2016-07-06
平邑经济开发区投资发展有限公司
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Problems solved by technology

[0004] However, the above-mentioned control method has the following defects: (1) its control accuracy is not high, and it cannot control the robot to completely follow the planned path; (2) it has high requirements for the planned path. The phenomenon of swaying left and right and non-stop oscillation makes the robot's walking posture not "elegant"; (3) The requirements for the walking speed of the robot are too high, and the robot can only walk slowly according to the planned path; if the speed of the robot is increased, The effect of walking according to the planned path is extremely poor, and even deviates from the planned path.

Method used

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  • Path control method and system for robot

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Embodiment Construction

[0094] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings that need to be used in the description of the embodiments or the prior art will be briefly introduced below. The invention is exemplary and should not be construed as limiting the invention. The following description describes numerous specific details to facilitate an understanding of the present invention. However, in certain instances, well-known or conventional details are not described in order to satisfy the requirement of conciseness of the description.

[0095] Such as figure 1 As shown, according to an embodiment of the present invention, a path control method for a robot includes the following steps:

[0096] For the grid map input by S01, the size of each grid can be set to 5cm*5cm; choose a point on the map as the initial position, and then choose another point on the map as the end position, between the initi...

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Abstract

The invention provides a path control method and system for a robot. The method includes the steps of setting a movable virtual robot in front of the actual robot on a planned path according to input maps and the planned path for the actual robot, calculating the distance between the actual robot and the virtual robot according to the current position information of the virtual robot and the current position information of the actual robot, adjusting the current speed of the virtual robot according to the distance between the actual robot and the virtual robot, controlling the actual robot to follow the virtual robot according to the current speed of the virtual robot, and calculating the current position information of the virtual robot and the actual robot. In the invention, the virtual robot does not deviate from the planned path, and control the general running direction, so as to further control the actual robot to follow the virtual robot. The actual robot moving along the planned path is realized.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a path control method and system for a robot. Background technique [0002] At present, mobile robots are widely used in various industries. Among them, life service robots are loved by the general public, such as sweeping robots, floor washing robots, and meal delivery robots. How to control the robot to walk accurately and stably according to the planned path has become the key to the robot's autonomous completion of various tasks. [0003] The existing control method is a fuzzy control algorithm, which mainly controls the robot’s walking by examining the position deviation of the robot’s relative path, that is, control the robot to turn right after observing the robot’s deviation to the left, and control the robot to turn left after observing the robot’s deviation to the right. Although this control method can realize that the robot walks according to the entire planned path. ...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0221
Inventor 林伟张小章征贵
Owner 平邑经济开发区投资发展有限公司
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