61results about How to "Realize trajectory tracking" patented technology

The embodiment of the application discloses an adaptive prediction time domain steering control method and device for an autonomous vehicle. The method comprises the following steps: acquiring a vehicle running reference track, and forming a vehicle running reference track under a global coordinate system according to the acquired track; performing fitting based on map information acquired by a vehicle global positioning system (GPS) and a differential system to form a vehicle running expected track curve; building a prediction model with a course deviation between a vehicle running path and the reference track based on a vehicle kinematic model and the vehicle running expected track curve; designing an adaptive variable sampling period; and periodically adjusting the track of the vehiclein the running process based on the sampling period to realize track following. According to the method in the embodiment of the application, the reference track is followed in an adaptive period prediction control manner, and the vehicle has a very good track following control effect after the adoption of an adaptive period considering the road curvature change, so that the control accuracy is improved, and relatively high stability is achieved in the control process.

The invention relates to a wheeled mobile robot trace tracking control method based on energy saving consideration, and belongs to the field of robot control. The method comprises the following steps that according to energy consumption characteristics of a wheeled mobile robot, the energy consumption optimization of a driving motor during cruising of the robot is intensively considered, and a motor energy consumption model is built; according to the trace tracking characteristic of the wheeled mobile robot, a kinematic model and a tracking error model are built, and a kinematic tracking sub controller is designed; a correlation model of the kinematic model and the motor energy consumption model is built according to an inherent correlation mechanism between the kinematic model and the motor energy consumption model; finally, an energy-saving sub controller is obtained, so that the wheeled mobile robot trace tracking control method based on energy saving consideration is obtained. The wheeled mobile robot trace tracking control method has the advantages that the global stability of a system and the high-precision and low-energy-consumption control of the whole process of the wheeled mobile robot can be controlled, so that the precise trace tracking is realized, and meanwhile, the energy optimization is realized.

The invention discloses a continuous vehicle speed detection method based on laser radar, relates to the fields of a laser radar speed detection technology and a vehicle speed detection technology andsolves the problems that vehicle and non-vehicle objects cannot be classified through 2D laser radar detection and the cost of high-cost 64-wire 3D laser radar is too high in existing technologies for performing vehicle speed detection through laser radar. A 16-wire laser radar is adopted for continuously acquiring road scene data of traffic lanes, then, vehicles are associated with a method forassociating vehicles in multi-frame data, the vehicle speeds are detected, the problem that measurement is affected due to frame loss of the laser radar is completely solved, and the problem that measurement is affected due to mutual shielding of vehicles is also solved. The method realizes measurement of continuous speed change curves of vehicles and has great significance in further analyzing vehicle behaviors. The method can be applied to various vehicle speed measurement places in the traffic engineering.

The invention relates to a distributed space-time correlation model trajectory tracking method based on statistical inference. Beacon nodes are deployed in the shape of an equidistant grid in a locating space according to longitudinal and transverse directions, and beacon node information is saved in each unknown node; the beacon nodes receiving notification information transmitted by the unknown nodes emit locating signals at a fixed frequency, and the unknown nodes receive and form multiple time sequences according to the beacon nodes; each unknown node constructs a boundary time sequence to detect a boundary crossing event and determine a corresponding time point; each unknown node constructs regional time window statistical quantity and infers the current region; the position of the intersection points of the trajectories and the boundary is inferred; and the trajectories are formed and the result is uploaded to aggregation nodes. According to the method, RSSI locating information probability distribution characteristics in the trajectory tracking problem and space-time data mining are overall considered, and the boundary crossing event and regional information are discovered through the method of time-space information statistical inference so that trajectory tracking can be realized.

The invention relates to the technical field of autonomous water surface robot control, in particular to an integral sliding mode obtaining method and system for autonomous water surface robot trajectory tracking. The method comprises the following steps: establishing an autonomous water surface robot containing external interference and a kinematics and dynamics model of a tracked expected trajectory, then, introducing an auxiliary variable, converting a model containing external interference and based on the autonomous water surface robot into a tracking error system model, designing an integral sliding mode surface and a fixed-time interference observer, and designing a trajectory tracking integral sliding mode control scheme of the autonomous water surface robot based on an interference estimation value. The method can effectively reduce the influence of external interference on the autonomous water surface robot, achieves the precise control, and is suitable for the fixed-time trajectory tracking control of the autonomous water surface robot.

The invention provides a track following method. The track following method comprises the steps of (1) acquiring the turning angle of an active steering axle when a vehicle drives along a curve; (2) determining the expected turning angles of all steering axles in the vehicle through a preset steering axle relation model according to the turning angle of the active steering axle; and (3) determining the expected turning angles of wheels on the two sides of the steering axles correspondingly according to the turning angles of the steering axles. Through the track following method, the moving tracks of the axles in the vehicle steering process, and accordingly, track following of the vehicle is realized. Meanwhile, through the track following method, the steering radius and the passage widthof the vehicle can be reduced. The track following method is particularly suitable for operation control over articulated vehicles.

The embodiment of the invention provides a vehicle tracking system. The system comprises a plurality of cameras, the cameras are used for shooting monitoring images on a monitoring road section at intervals, each camera shoots different monitoring sub-road sections of the monitoring road section, and the monitoring sub-road sections monitored by the cameras with adjacent serial numbers have overlapping areas; sending the shot monitoring image to the terminal server; the terminal server is used for receiving the monitoring images sent by the plurality of cameras and acquiring vehicle information of vehicles existing in the monitoring images; determining a target vehicle in all vehicles in which the images of the plurality of cameras exist based on the similarity of the vehicle information;and obtaining global coordinates of the target vehicle in a global coordinate system when the plurality of cameras shoot the target vehicle, wherein the global coordinates are used for displaying a track of the target vehicle in the global coordinate system. And long-distance continuous vehicle trajectory tracking can be realized.

The invention belongs to the technical field of automatic control and relates to a hip joint rehabilitation robot track and speed tracking self-adaptive control method. Under the condition that model parameters are uncertain, a self-adaptive control law is designed so that a hip joint rehabilitation robot can guarantee rehabilitation training of patients at a proper speed. The method includes the main steps that firstly, an expected tracking track of rehabilitation training is designed according to hip joint physiological functions of a human body; secondly, according to the expected tracking track of rehabilitation training, output change ranges of drivers in the dynamic process are limited; thirdly, an unknown function in a kinetic equation and a bound function of unknown control gain are given; fourthly, track tracking errors and speed tracking errors are calculated; fifthly, the self-adaptive control law is designed by means of a layered fuzzy logic system and a fuzzy logic system. The method has the advantages of being safe, reliable, high in control precision and good in instantaneity.

The invention discloses a mobile robot trajectory tracking control method based on strategy iteration. The mobile robot trajectory tracking control method is characterized by establishing two neural networks for a known mobile robot system, wherein the neural networks are respectively an actor neural network and a critic neural network, the actor neural network is used for evaluating and improving a system control strategy, the critic neural network is mainly used for calculating a value function under the current control strategy, and the value function is used for evaluating the current strategy. The method comprises the following steps of: 1) establishing a kinematic model of a mobile robot; 2) designing the Actor neural network; 3) designing the Critic neural network; and 4) designing an online algorithm of an Actor/Critic structure. Based on the data-driven control algorithm, the value function is utilized to evaluate the strategy function, the value function and the strategy function are considered in the learning process, and trajectory tracking of the mobile robot can be well achieved.

The invention provides a pedestrian trajectory tracking method, and relates to the field of image processing, and the method comprises the steps: obtaining image data; performing feature extraction on the image data, and constructing a candidate relation mask; extracting a historical frame feature set of the pedestrian trajectory library, and performing feature calculation on the historical frame feature set and the candidate frames in the candidate frame relation mask to obtain a person frame feature distance matrix and a frame person feature distance matrix; calculating the feature distance between the target pedestrian and the candidate box, and classifying the target candidate box, the feature distance between which and the target pedestrian satisfies the minimum distance, into the trajectory of the target pedestrian until no detection box satisfying the condition exists in the current frame detection box; and updating the pedestrian trajectory library, and outputting the pedestrian index set of the target pedestrian and the corresponding position trajectory. The problem of insufficient feature richness in the pedestrian tracking process can be effectively solved, and the pedestrian tracking detection precision is improved. The invention also provides a pedestrian trajectory tracking system, a computer readable storage medium and electronic equipment, which have the above beneficial effects.

The invention discloses a trajectory tracking method and device for a foot type robot, terminal equipment and a computer readable storage medium, and the method comprises the steps: determining an expected pose trajectory parameter of the foot type robot, and constructing a position proportion and a feedforward and differential control channel of a body pose trajectory of the foot type robot according to the expected pose trajectory parameter; a first variable damping controller inversely proportional to the distance is designed according to the expected pose trajectory parameters; and performing trajectory tracking for the foot type robot according to a first expected force and a torque which are output according to the position proportion and a feed-forward and differential control channel, and a second expected force and a torque which are output based on the first variable damping controller. By the adoption of the technical scheme, the requirement for steady-state high-dynamic quick response can be met during trajectory tracking control of the foot type robot.

The invention discloses an electronic license plate for an electric vehicle based on smart city Internet of Things, and belongs to the technical field of Internet of Vehicles and traffic supervision, the electronic license plate comprises an electronic license plate, and a two-dimensional code unit is arranged on the outer wall of the electronic license plate close to the top end; license plate fixing holes are symmetrically formed in the two sides of the two-dimensional code unit; an electric vehicle physical license plate number is arranged on the outer wall of the electronic license plate close to the top end; an antenna is arranged at the top end in the electronic license plate, and an electronic tag is arranged on the upper left portion of the antenna. a positioning tag is arranged on the upper right portion of the antenna, and a power supply circuit is installed in the center of the interior of the electronic license plate. The invention designs an electronic license plate for an electric vehicle and an electric vehicle violation management and control system, which are based on a wireless radio frequency technology. The system is matched with an electronic license plate, so that trajectory tracking and punishment management and control of traffic violation behaviors of the electric vehicle can be achieved, and normalized supervision of the electric vehicle can be achieved.

The invention discloses a wheeled robot data-driven iterative learning control method under DOS attacks. The wheeled robot data-driven iterative learning control method comprises three steps of constructing a bottom layer data model, designing a kinematics controller and setting an event triggering mechanism. On the premise of ensuring the expected stability performance, the updating times of the controller are reduced, and bandwidth resources are saved; meanwhile, the controller is designed only by using I/O measurement data generated by the dynamical model without depending on specific parameters of the dynamical model, so that the difficulty in the aspect of model decoupling is reduced, and the method is suitable for WMR systems with different types of mechanical structures and is more beneficial to practical engineering popularization; in addition, the method can introduce an iteration domain to get rid of the constraint of an early convergence process under the condition of considering network malicious DOS attacks and introducing an event triggering mechanism, and achieves complete trajectory tracking of the wheeled mobile robot in the whole time domain, thereby greatly improving the stability and reliability of the operation of the wheeled robot.

According to the building management method and system based on the user portraits, user portraits of people entering a building are recognized, user type judgment and trajectory tracking are achieved, an abnormal behavior recognition algorithm is combined, intelligent recognition alarm of abnormal behavior points is conducted, the behavior norms of the people entering the building are guaranteed; when the abnormal behavior is judged to exist, an alarm is given in time, so that the situation that all possible potential safety hazards are handled, solved and eradicated in time before a safety event occurs is ensured, the safety of articles and personnel in the building is ensured, a safe, comfortable and reliable working and living environment is provided for building owners and resident personnel, and the satisfaction degree of property service is improved.