Autonomous docking control method for sliding steering modular robot

Abstract

According to an autonomous docking control method for a sliding steering modular robot, a docked robot is called as a female head module, a robot actively implementing docking action is called as a male head module, the female head module is in a static state, and the male head module is in a moving state; a two-dimensional code is pasted on the female head module to serve as a target, a camera is additionally installed on the male head module, a two-dimensional code image is shot through the camera, the attitude quaternion of the two-dimensional code relative to a camera coordinate system is calculated, and the relative attitude between the modules is obtained; and butt joint of the male head module and the female head module is realized based on stepping control of behaviors. According to the invention, through vision and a cooperative target, the pose of the target is detected by means of the camera, so that the relative pose of the two to-be-docked robots is accurately estimated, and the error of a positioning system is made up; the problems existing in the self-reconfiguration butt joint process of the sliding steering modular robot can be effectively solved, and accurate butt joint control over unit modules is achieved.

Description

Technical field [0001] The present invention relates to a method for skid steer modular robotic docking autonomous control method, belonging to a mobile docking robotics. Background technique [0002] For four-wheel differential wheel slip steering platform for self-reconfigurable modular unit module robot, autonomous docking technology which one of the key technologies allosteric process, there is the difficulty. This type of robot is constituted by a plurality of hinge unit modules, each unit module is provided with a complete independence of movement, sensing and control of the four wheel roller robot, i.e., a plurality of robots by a hinge connecting a large robot. Four sliding steering wheels on both sides of the robot by adjusting the rotation speed, drive the robot to move. Since the scroll wheel itself can not change the direction (Ackerman steering angle), skid steer robots to the steering wheel by sliding on the ground. Thus, the presence of error of the sliding movemen...

AI Technical Summary

Problems solved by technology

[0004] 1. Precise control is difficult: the ground contact dynamic parameters of the sliding steering robot are difficult to model and estimate. Factors such as ground friction coefficient, tire wear, tire pressure, temperature and humidity will affect the estimation of slippage

[0005] 2. There are deviations in the positioning system: In the process of self-reconfiguration, multiple mobile robots gather from a dispersed state to a "quasi-docking" state with the help of positioning system, trajectory planning technology and trajectory tracking control technology

During the convergence process, there is a certain error in the positioning system. When the relative pose deviation of the two robots to be docked is within the error range of the positioning system, the positioning result can no longer reflect the accurate relative pose of the two robots, and it is difficult to implement only by the positioning system. precise docking

[0006] 3. The four-wheel sliding steering robot cannot move laterally, that is, the speed direction cannot be perpendicular to the forward direction of the wheel rolling

For the lateral deviation between the two robots to be docked, it is difficult for the robot to eliminate

[0007] 4. The robot has a rectangular shape. In a densely populated state of multiple robots, a large in-situ turn will cause the robots to collide. Therefore, it is impossible to make up for the lateral error through a large (90-degree) in-situ turn.

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