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Trajectory tracking control method for four-wheel-driven wheeled mobile robot

A mobile robot, trajectory tracking technology, applied in non-electric variable control, adaptive control, general control system and other directions

Active Publication Date: 2016-11-16
SHANGHAI DIANJI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] The technical problem to be solved by the present invention is how to improve the stability of the control system of the four-wheel drive wheeled mobile robot in a complex and uncertain environment

Method used

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  • Trajectory tracking control method for four-wheel-driven wheeled mobile robot
  • Trajectory tracking control method for four-wheel-driven wheeled mobile robot
  • Trajectory tracking control method for four-wheel-driven wheeled mobile robot

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Embodiment Construction

[0116] Below in conjunction with specific embodiment, further illustrate the present invention. It should be understood that these examples are only used to illustrate the present invention and are not intended to limit the scope of the present invention. In addition, it should be understood that after reading the teachings of the present invention, those skilled in the art can make various changes or modifications to the present invention, and these equivalent forms also fall within the scope defined by the appended claims of the present application.

[0117] figure 1 The structural block diagram of the track tracking control system of the four-wheel drive wheeled mobile robot provided in this embodiment, the track tracking control system of the four wheel drive wheel mobile robot includes:

[0118] The kinematics controller 103, on the basis of the system kinematics model 108, adjusts the speed of the system according to the state of the given reference trajectory 101;

[...

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Abstract

The invention provides a trajectory tracking method for a four-wheel-driven wheeled mobile robot. The method comprises the steps of firstly establishing a kinematic model, a dynamic model and a driving motor model of a system; then designing a kinematic controller for adjusting speed of the system according to a given reference trajectory based on the kinematic model; operating the kinematic controller for obtaining the anticipated torque of a motor according to the speed of a to-be-adjusted system based on the kinematic model; designing a driving motor controller for designing an appropriate driving voltage of the system for satisfying the anticipated torque of the motor based on the driving motor model; and finally performing trajectory tracking control on the four-wheel-driven wheeled mobile robot according to a backstepping robustness trajectory tracking control method. The trajectory tracking method according to the invention realizes a purpose of improving stability of a four-wheel-driven wheeled mobile robot control system in a complicated uncertain environment and furthermore improves system controlling effectiveness on the condition with uncertain factors.

Description

technical field [0001] The invention relates to a trajectory tracking control method for a robot, in particular to a trajectory tracking control method for a four-wheel drive wheeled mobile robot. Background technique [0002] As an important branch of mobile robotics, Wheeled Mobile Robot (WMR) has the advantages of high work efficiency, simple driving and control, heavy load, flexible and convenient operation, etc. compared with traditional industrial robots. It has wide applications in the field. With the substantial improvement of wheeled mobile robots' ability to operate and adapt to different environments, wheeled mobile robots have become an indispensable helper in human production and life. Among them, in the civilian field, wheeled mobile robots can replace human workers in various heavy tasks, such as inspection of substation equipment, inspection of security personnel in shopping malls, earthquake relief and other occasions. In the military field, various unmann...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02G05B13/04
CPCG05B13/04G05D1/021
Inventor 王雪松孙强韩林鲍祚睿陈年生范光宇
Owner SHANGHAI DIANJI UNIV
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