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Autonomic optimal track following design method of free base butt-joint device

A free base, trajectory tracking technology, applied in neural learning methods, space vehicle docking devices, biological neural network models, etc. problems, to achieve the effect of achieving autonomy and intelligence, high practical value, and strong adaptability

Active Publication Date: 2010-01-13
BEIHANG UNIV
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  • Description
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  • Application Information

AI Technical Summary

Problems solved by technology

However, long-term studies have shown that because dockers with non-holonomic constraints generally work in dynamic, unknown and complex environments, they are required to be fully autonomous and even highly intelligent, and can complete various advanced tasks without any human intervention. , so the docking track tracking problem has always been a difficult problem
However, the establishment of fuzzy rules is a very difficult problem, and the control effect is generally not ideal; the neural network method requires online or offline learning, which takes up a lot of system resources and seriously reduces the real-time performance of motion control.

Method used

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  • Autonomic optimal track following design method of free base butt-joint device
  • Autonomic optimal track following design method of free base butt-joint device
  • Autonomic optimal track following design method of free base butt-joint device

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Embodiment Construction

[0039] In order to make the content and technical solutions of the present invention clearer, the present invention is further described in detail by adopting a wheeled ground mobile robot as the kinematic base of the free base docking device.

[0040] The first step is to establish the motion model of the robot. In general, the kinematics model of a mobile robot can be considered as a two-wheel independently driven mobile car model with no sideslip and pure rolling, that is, it is assumed that the wheels move along a straight line on the ground, and the contact point with the ground at each time point The speed is equal to zero.

[0041] like figure 1 As shown, OXY is the inertial coordinate system, O'X'Y' is the coordinate system of the robot, where Y' is the positive direction of the robot, the shaded area is the position of the two driving wheels of the robot, and O' is located at the center of the two driving wheels The center point of the link. At this time, we can us...

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Abstract

The invention relates to an autonomic optimal track following design method of a free base butt-joint device, belonging to the field of motion planning and control. The invention provides a free base butt-joint device which solves the problems existing in a fixed base butt-joint device and can not be limited by fixed orbits to freely move to complete more complicated butt-joint tasks. In addition, the free base butt-joint device has more flexible movement, lower cost and higher control requirement. The invention also relates to the automatic optimal track following method by combining genetic algorithm, optimal control, and other related technologies. With the autonomic optimal track following design method, the free base butt-joint device can automatically select an optimal track in real time to complete a track following task of the free base butt-joint device.

Description

technical field [0001] The invention belongs to the field of motion planning and control, and in particular relates to a design method of a non-complete motion controller of a free base docking device. Background technique [0002] It has been nearly 40 years since the first space rendezvous and docking in the world was achieved between the American Gemini 8 spacecraft and the Agena rocket in the 1960s. During this period of time, only the United States and the former Soviet Union have truly achieved practical rendezvous and docking. According to statistics, more than 200 spacecraft rendezvous and docking have been achieved in the world, including more than 120 times in the former Soviet Union. All technologically advanced countries in the world are steadily accelerating the development of their own space station systems, and the competition is fierce. The former Soviet Union was the first to develop space stations, and built the most space stations. Its Mir space station i...

Claims

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Application Information

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IPC IPC(8): B64G1/64B64F5/00G06N3/08
Inventor 贾英民曹镝倪娜
Owner BEIHANG UNIV
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