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Mobile robot trace tracking control method

The technology of a mobile robot and a control method, which is applied in the field of mobile robots, can solve problems such as the inability to realize trajectory tracking control, etc.

Inactive Publication Date: 2018-06-01
张辉
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] The trajectory tracking of the mobile robot is the basis and guarantee for the mobile robot to perform tasks. Then, when the mobile robot operates in a complex field environment, the ground environment is complex, such as sandy soil, muddy road, slippery ground, icy road and other working conditions. Slip and slip will inevitably occur between the mobile robot and the ground, and at this time, the trajectory tracking control method using slip parameter estimation without slip cannot achieve accurate trajectory tracking control

Method used

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Embodiment Construction

[0056] Below in conjunction with the accompanying drawings and specific embodiments, the trajectory tracking control method of a mobile robot of the present invention will be further described:

[0057] The mobile robot involved in the present invention is an independent full-drive, the wheels have no active steering degree of freedom, and the wheels on the same side of the vehicle body rotate at the same speed. This mobile robot includes a GPS-INS combined positioning system for collecting wheel speed data. The encoder and the vehicle controller that sends the rotational speed of the drive motor to the vehicle controller.

[0058] like figure 1 , figure 2 , image 3 and Figure 4 As shown, the present invention is a mobile robot path tracking control method based on slip-slip coupling estimation, and the method includes the following steps:

[0059] Step 1: Receive the desired trajectory and the desired trajectory tracking speed signal planned by the decision-making leve...

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Abstract

The invention discloses a mobile robot trace tracking control method. The mobile robot trace tracking control method comprises the steps of calculating the numerical values of a slip coefficient and the slip rate according to motion mathematical model formulas of the slip coefficient and the slip rate and data detected by A GPS-INS and the information of the expected path, the expected speed and the expected yaw velocity given by a mobile robot decision layer; substituting the numerical values into a kinematic model of a mobile robot and compensating for and calculating the rotating speed of wheels achieving trace tracking to achieve the purpose of accurately tracking an expected trace. The mobile robot trace tracking control method has the advantages that the slippage rate can be calculated at any time; the actual motion state of the mobile robot can be described and represented more truly and accurately; accordingly, the expected trace can be tracked effectively and accurately.

Description

Technical field: [0001] The invention relates to the technical field of mobile robots, in particular to a trajectory tracking control method of a mobile robot. Background technique: [0002] The trajectory tracking of the mobile robot is the basis and guarantee for the mobile robot to perform tasks. Then, when the mobile robot operates in a complex field environment, the ground environment is complex, such as sandy soil, muddy roads, slippery ground, and icy roads. Slip and slip will inevitably occur between the mobile robot and the ground. At this time, the trajectory tracking control method using slip-free slip parameter estimation cannot achieve accurate trajectory tracking control. Invention content: [0003] The technical problem to be solved by the present invention is to provide a path tracking control that can calculate the slippage from time to time, more truly and accurately describe and characterize the actual motion state of the mobile robot, so as to effective...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1664G05B2219/40519
Inventor 张辉
Owner 张辉
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