Autonomous driving path tracking control method of crawler-type mobile robot

Abstract

The invention provides an autonomous driving path tracking control method of a crawler-type mobile robot. With the autonomous driving path tracking control method of the crawler-type mobile robot adopted, the accuracy and reliability of the path tracking of the mobile robot can be improved. The method comprises the following steps that: the current pose information, mass center speed information and driving wheel rotating speed information of the crawler-type mobile robot are acquired; the pose information of the crawler-type mobile robot in a prediction time domain is determined according to the obtained information through the kinematics and dynamics models of the crawler-type mobile robot, and the determined pose information is compared with expected path information, so that pose deviation in the prediction time domain can be obtained; with minimizing the sum of predicted pose deviation, predicted control quantity increment and predicted course angular velocity change in a path tracking process adopted as an objective, the optimization function of nonlinear model prediction control can be determined; the optimization function is minimized through constraint conditions, so that an optimal control sequence can be obtained; and therefore, the crawler-type mobile robot tracks an expected path according to the output pose information of the optimal control sequence so as to autonomously travel.

Description

technical field [0001] The invention relates to the field of autonomous driving control of a mobile robot, in particular to a tracking control method for an autonomous driving path of a crawler-type mobile robot. Background technique [0002] In recent years, tracked mobile robots have been widely used in military, search and rescue, and exploration fields. An autonomous mobile robot system usually includes mapping, localization, perception and navigation, among which path tracking is the core part of the navigation system. The goal of path-following control is to make a mobile robot autonomously follow a desired path as accurately as possible. For the path tracking control of mobile robots, the existing ones include fuzzy control (Fuzzy Control, FC) strategy, preview proportional integration differentiation (Proportion Integration Differentiation, PID) control, sliding mode control (Sliding Mode Control, SMC), linear quadratic Type regulator (Linear Quadratic Regulator, L...

AI Technical Summary

Problems solved by technology

[0004] The technical problem to be solved by the present invention is to provide an autonomous driving path tracking control method of a crawler-type mobile robot to solve the problem in the prior art that the path tracking of a crawler-type mobile robot is described by using a kinematics model alone, resulting in a large tracking error The problem

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