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Variable structure control method of wheeled mobile robot

A mobile robot and variable structure control technology, applied in two-dimensional position/channel control, etc., to achieve the effect of improving control performance, improving control quality, and improving control performance

Inactive Publication Date: 2011-12-07
CHONGQING UNIV
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  • Abstract
  • Description
  • Claims
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Problems solved by technology

Common automatic control algorithms are often designed for specific application conditions and are only used to complete certain special functions

Method used

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  • Variable structure control method of wheeled mobile robot
  • Variable structure control method of wheeled mobile robot
  • Variable structure control method of wheeled mobile robot

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Embodiment Construction

[0077] The preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings; it should be understood that the preferred embodiments are only for illustrating the present invention, rather than limiting the protection scope of the present invention.

[0078] The variable structure control method of the wheeled mobile robot provided by the present invention, the wheeled mobile robot includes a left wheel, a right wheel, a driver, a front row of magnetic sensors, a rear row of magnetic sensors, a wheeled mobile robot body, an RFID reader, The driver controls the motor speed, including straight-line walking control and turning control. The straight-line walking control controls the robot to move in a straight line and corrects the forward direction of the robot according to the difference information between the left wheel and the right wheel drive motor of the robot; the turning control, according to The RFID tag provid...

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Abstract

The invention discloses a variable structure control method of a wheeled mobile robot. according the method, the linear motion of a robot is controlled by using a multimodal PID (proportion integration differentiation) control method; and a forward direction of a trolley is corrected by using the combination of a control method and a PID control and a rule control; the two control modes are switched through the changes of a directional angle and a centre offset; the robot is controlled to turn in an in-situ right angle turning mode according to turning direction information and position information; by using the multimode PID control and the combination of the rule control and the PID control, the algorithm can use different control algorithms and corresponding control parameters according to different states of the robot to effectively improve the robot motion control performance; the control mode is divided according to the error change condition so as to reasonably simulate the control behavior of a human; compared with the traditional PID control method, the variable structure control method has a certain intelligence and improves the walking motion control quality of the robot.

Description

technical field [0001] The invention relates to a control algorithm of a wheeled mobile robot, in particular to a variable structure control method of the wheeled mobile robot. Background technique [0002] Robots have great research significance in production, learning and research. Wheeled robot research is a branch of robot research, which belongs to the research category of walking intelligent robots, which involves computers, automatic control, sensing and perception, and wireless communication. , precision machinery and bionic materials and many other cutting-edge disciplines. With the continuous development of science and technology and the improvement of material life, human beings want to get rid of heavy, dangerous and repetitive work. Therefore, the use of robots is becoming more and more extensive, and the research on robot motion has been paid more and more attention. [0003] The motion control problem of mobile robot is the most basic problem in robot resear...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
Inventor 孙棣华廖孝勇刘卫宁赵敏李硕崔明月何伟郭磊李陆孙焕山
Owner CHONGQING UNIV
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