Path tracking method for mobile robot

Abstract

The invention discloses a path tracking method for a mobile robot. The method specifically comprises the following steps that: S1, a planned path is segmented into track points, and the track points are put into a track point set; S2, the current tracking distance L is determined based on the moving speed of the mobile robot at the last moment, and a next preview point and a preview straight line where the next preview point is located are formed based on the current tracking distance; S3, the current moving linear speed of the mobile robot is determined based on the vertical distance Tlen between the current position of the mobile robot and the preview straight line and the included angle theta between the current pose and the preview straight line; and S4, the steering control angle of a virtual steering wheel of the mobile robot is calculated, and the speed of a left steering wheel and the speed of a right steering wheel are determined based on the steering control angle of the current virtual steering wheel and the moving linear speed. The method can effectively realize the tracking of the expected path of the mobile robot on the premise of ensuring the stability of a vehicle, has the characteristics of high response speed, small tracking error and strong robustness, and is suitable for tracking various paths.

Description

technical field [0001] The invention belongs to the technical field of path tracking, and more specifically, the invention relates to a path tracking method of a mobile robot. Background technique [0002] In recent years, the functions of mobile robots have become increasingly powerful, benefiting fields such as transportation, medical care, and industry. Mobile robots are a comprehensive system integrating environmental perception, dynamic decision-making and planning, behavior control and execution. Path tracking is one of the key technologies of the mobile robot. By controlling the steering system of the mobile robot, the robot can be driven along the desired path. The performance of the path tracking algorithm directly determines the tracking accuracy of the path and affects the accuracy of the mobile robot during walking. and safety and reliability. Therefore, during the driving process of the mobile robot, it is necessary to reduce the attitude deviation and angle de...

AI Technical Summary

Problems solved by technology

[0003] In order to ensure that the mobile robot tracks the set path trajectory in real time, scholars at home and abroad have proposed methods such as preview control, traditional PID control, and neural network control. Most of these methods Assuming that the mobile robot is at a constant speed, the pose of the robot is controlled by controlling the angular velocity, but when the speed changes greatly, the tracking performance of the control system will deteriorate, and even oscillation will occur

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