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Mobile robot visual servo trajectory tracking predictive control method based on primal-dual neural network

A mobile robot and neural network technology, which is applied in the field of visual servo trajectory tracking and predictive control of mobile robots, can solve problems such as slow solution speed, and achieve the effect of solving the trajectory tracking problem of visual servo mobile robots.

Inactive Publication Date: 2019-01-15
ZHEJIANG UNIV OF TECH
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Problems solved by technology

[0004] In order to overcome the problem that the existing technology cannot solve the multi-constraint optimization problem in the predictive control of visual servo trajectory tracking of mobile robots, the present invention provides a visual servo trajectory tracking predictive control of mobile robots based on the original dual neural network (PDNN) method, convert the problem into a multi-constraint linear quadratic programming problem, and use PDNN to quickly find the optimal solution

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[0056] The present invention will be further described below in conjunction with the accompanying drawings.

[0057] refer to figure 1 , a mobile robot visual servo trajectory tracking predictive control method based on the original dual neural network, comprising the following steps:

[0058] 1) Establish a mobile robot kinematics model;

[0059] define [x y θ] T are the horizontal and vertical coordinates of the robot on the motion plane and the rotation angle of the robot, the linear velocity of the robot is v, and the angular velocity is ω, then the kinematics model of the non-integrity mobile robot is

[0060]

[0061] 2) Fix the camera on the ceiling so that the camera can obtain global visual information, and establish the error model of the visual servo mobile robot as

[0062]

[0063] Among them, (x m ,y m )T is the robot coordinates (x, y) T Coordinates in pixel coordinate system, is a positive definite matrix, d 1 and d 2 is a constant that depends ...

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Abstract

A mobile robot visual servo trajectory tracking predictive control method based on a primal-dual neural network comprises the following steps: 1) building a mobile robot kinematical model; 2) fixing acamera on a ceiling, so that the camera can obtain global visual information, and building a visual servo mobile robot error model; 3) according to the error model, obtaining a prediction equation and defining a predictive control performance index; and 4) establishing a performance index minimization problem as a minimization problem based on the primal-dual neural network, and solving controller gain by combining a primal-dual neural network module in Matlab-Simulink, so that a trajectory tracking task is completed. The method provided by the invention transforms a problem into a multi-constrained linear quadratic programming problem and quickly finds optimal solution by utilizing a PDNN.

Description

technical field [0001] The invention relates to the technical field of trajectory tracking of a mobile robot, in particular to a visual servo trajectory tracking prediction control method for a mobile robot based on a primal-dual neural network. Background technique [0002] With the development of science and technology, people's requirements for robots are not only to complete specific tasks, but also to be able to perceive the environment. As visual information is the most important information when perceiving the environment, many researchers focus on the field of visual servo control. The problem of visual servo trajectory tracking control of mobile robot is one of the three basic problems of visual servo control, and it is also one of the basic problems of intelligent robots. Therefore, the research results of visual servo trajectory tracking control of mobile robots not only add theoretical results to the motion control of mobile robots, but also lay a solid foundati...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0223G05D1/0246G05D1/0276
Inventor 俞立吴锦辉陈旭刘安东滕游
Owner ZHEJIANG UNIV OF TECH
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