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Modeling and control method for visual servo system of omni-directional mobile robot

An omnidirectional mobile, robot vision technology, applied in the modeling and control field of omnidirectional mobile robot visual servo system, can solve the problems of not being able to handle constraints well, not meeting visual visibility constraints and actuator constraints, etc. To achieve the effect of good handling and good constraints

Pending Publication Date: 2021-12-28
ZHEJIANG UNIV OF TECH
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Problems solved by technology

[0003] The visual servo control method is a commonly used driving and control method for omnidirectional mobile robots, but the current visual servo control research often cannot meet the visual visibility constraints and actuator constraints, and cannot handle the constraints well.

Method used

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  • Modeling and control method for visual servo system of omni-directional mobile robot
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  • Modeling and control method for visual servo system of omni-directional mobile robot

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Embodiment

[0115] 1) Object selection. The radius of the eccentric wheel of the selected omnidirectional mobile robot is r=0.1m, the distance from the center of the vertical axis of the eccentric wheel to point M is l=0.8m, and the eccentric distance d of the eccentric wheel is 0.2m. Robot coordinate system X r The angles from the axis to the straight lines MA, MB, and MC are α 1 = π / 3, α 2 = π, α 3 =-π / 3. Select the focal length of the camera f=6mm, the image resolution is 640×480pixels, and the height z from the origin of the camera coordinate system to the feature point P c = 0.4m.

[0116] 2) The communication is established. The PC side is controlled by MATLAB. The controller selects STM32 single-chip microcomputer, the model is STM32F103RCT6. The PC and the single-chip microcomputer realize serial communication, and the single-chip microcomputer and the driver realize CAN communication. Establish communication and use MATLAB to send speed and other commands to control the init...

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Abstract

The invention relates to a modeling and control method for a visual servo system of an omni-directional mobile robot, which considers the problem that an inintegratable speed constraint exists in a nonintegrity mobile robot, and researches the visual servo system of the omni-directional mobile robot consisting of three driving eccentric wheels. The invention provides a visual servo controller based on a model prediction control strategy aiming at the condition that a visual servo system has visual visibility constraint and actuator constraint. The method comprises the following steps: firstly, modeling a visual servo error system of rolling angular velocity and deflection angular velocity of an eccentric direction wheel of the omni-directional mobile robot is performed based on a kinematics equation and a visual servo system error model of the active eccentric wheel omni-directional mobile robot; on the basis, a visual servo prediction model of the omni-directional mobile robot is established in combination with a model prediction control strategy, and then a visual servo prediction control strategy is designed; and the designed controller not only can drive the mobile robot to reach a target point, but also can better process constraint conditions.

Description

technical field [0001] The invention relates to the technical field of robot visual servo control, in particular to a modeling and control method for an omnidirectional mobile robot visual servo system. Background technique [0002] Traditional mobile robots have various movement restrictions in the actual application process, such as fixed direction of movement, inability to rotate in situ, etc. The emergence of omnidirectional mobile robots has broken through this limitation and overcomes the problems of inability to move laterally and in situ rotation. , has become the research direction and focus of new mobile robots, and has broad development prospects. [0003] The visual servo control method is a commonly used driving and control method for omnidirectional mobile robots. However, the current visual servo control research often cannot meet the visual visibility constraints and actuator constraints, and cannot handle the constraints well. Contents of the invention ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0246G05D1/0276G05D1/0219
Inventor 林叶贵邢科新何德峰张文安倪伟琦
Owner ZHEJIANG UNIV OF TECH
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