Independent tracking system with delayed virtual flexible curved bar

Abstract

The invention discloses an independent tracking system with a delayed virtual flexible curved bar, which comprises a laser rangefinder, global positioning system (GPS) navigation equipment, a three-axis gyroscope, a code disc, a camera, a first pre-processing unit, a second pre-processing unit, a third pre-processing unit, a fourth pre-processing unit, a first movement state detection unit, a second movement state detection unit and a virtual flexible bar independent tracking system. The system first detects a target robot through a laser radar, obtains the distance and posture of the target robot relative to an independent following rotor, and works out the position coordinate of the target robot in a global coordinate system by the self positioning information of the independent following robot; the movement track curve of the target robot can be worked out from a current point and a historical point of the target robot through a virtual flexible curved bar model, so that the lengthof the virtual flexible curved bar in a current state is worked out; and the action force of the target robot on the independent following robot at the current movement point is worked out through the integration of the form of the virtual flexible curved bar and a delay model.

Description

technical field [0001] The invention relates to an autonomous control suitable for an intelligent mobile robot, more particularly, an automatic tracking system of a virtual flexible curved rod with force delay. Background technique [0002] In the publication number CN101947788A, the publication date is January 19, 2011, which is called "an intelligent robot", which includes a human-machine interface module, a main controller, an environmental monitoring module, a robot positioning module, a motor drive module, a visual Module, voice module, data storage module, wireless data transmission module and power management module; the human-machine interface module interacts with the user on human-computer information, and transmits the received data to the main controller; the environmental monitoring module inputs the detected information into the main controller The robot positioning module transmits external information to the main controller; the motor drive module is controll...

AI Technical Summary

Problems solved by technology

[0004] In order to solve the problem that the trajectory of the target cannot be completely reproduced in the independent automatic tracking system, the present invention provides an autonomous tracking system with a force-delayed virtual flexible curved rod

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