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Wheeled mobile robot trace tracking method based on quantum behavior particle cluster algorithm

A technology of mobile robot and particle swarm algorithm, applied in the direction of instruments, two-dimensional position/channel control, adaptive control, etc., can solve complex and difficult problems of system integration, achieve simple design process, flexible system, and improve tracking accuracy and speed effect

Inactive Publication Date: 2009-05-20
JIANGNAN UNIV
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Problems solved by technology

The above method is mainly based on the kinematics model to study the trajectory tracking control of the non-holonomic mobile robot, while the dynamics model is the most essential model of the system, and it is also more complex. There are uncertain items such as friction, mass and moment of inertia, etc. Combining brings great difficulties

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  • Wheeled mobile robot trace tracking method based on quantum behavior particle cluster algorithm
  • Wheeled mobile robot trace tracking method based on quantum behavior particle cluster algorithm
  • Wheeled mobile robot trace tracking method based on quantum behavior particle cluster algorithm

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Embodiment Construction

[0027] In order to better understand the technical solutions of the present invention, the implementation manners of the present invention will be further introduced below.

[0028] 1. Establishment of the motion coordinate system of the wheeled mobile robot

[0029] The mechanical structure of an incomplete mobile robot consists of a car body, two driving wheels and a follower wheel, and the follower wheel only plays a supporting role during the movement, such as figure 1 shown.

[0030] Since the robot motion itself has directionality, on the two-dimensional plane of the robot motion, two independent plane coordinate systems need to be used to jointly identify the spatial pose and orientation of the robot at a certain moment, which are collectively referred to as pose in robotics. It is represented by a vector q, which means that a non-holonomic mobile robot system occupying a certain volume in space is abstracted as a reference point, and the coordinates of the reference p...

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Abstract

The invention discloses a method for tracing the track of a wheeled mobile robot based on a quantum-behaved particle swarm algorithm. The method sets a coordinate system within a motion range first, establishes a kinematic model of the wheeled robot, utilizes an inversion design method to decompose the kinematic model, obtains an error propagation equation of a reference pose and an actual pose through the track generated by path planning, takes the equation as a target function, utilizes the quantum-behaved particle swarm optimization algorithm to obtain parameters of a controller with quick speed and strong global solving capacity, designs the controller through the group of parameters, and further guarantees that the robot can be stably and quickly converged on the target track, namely the target function value is close to or less than an allowable value within a limited time period. The method solves the problems of high nonlinearity and non-integrity of track tracing of the wheeled mobile robot, and can quickly realize track tacing of the wheeled mobile robot and improve the tracing control effect of the mobile robot.

Description

technical field [0001] The invention discloses a trajectory tracking method of a wheeled mobile robot based on quantum behavior particle swarm algorithm. Background technique [0002] Wheeled Mobile Robots System (WMRS for short) has not only received widespread attention in industry and service industries, but also attracted the attention of a large number of researchers because of the challenges it encountered in control theory. Wheeled mobile robot systems belong to a class of typical nonholonomic constrained mechanical systems because they are limited by rolling constraints (no longitudinal or lateral sliding). Using the principle of nonholonomic constraints and nonholonomic motion planning, research and development of a new type of wheeled mobile robot system with good target trajectory tracking and control performance has become a new research hotspot in the field of robotics. Trajectory tracking of mobile robots is a nonlinear problem, and because the reference traje...

Claims

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Application Information

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IPC IPC(8): G05D1/02G05B13/02
Inventor 孙俊方伟须文波吴小俊陈秀宏柴志雷丁彦蕊陈磊奚茂龙
Owner JIANGNAN UNIV
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