Iterative learning algorithm for trajectory tracking of wheeled robot

A trajectory tracking and iterative learning technology, used in instruments, general control systems, two-dimensional position/track control, etc.

Inactive Publication Date: 2014-03-12
TIANJIN POLYTECHNIC UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The trajectory tracking control problem is a difficult point in the motion control of nonholonomic mobile robots because the expected value changes with time

Method used

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  • Iterative learning algorithm for trajectory tracking of wheeled robot
  • Iterative learning algorithm for trajectory tracking of wheeled robot
  • Iterative learning algorithm for trajectory tracking of wheeled robot

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Embodiment Construction

[0013] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0014] The present invention takes the two-wheeled mobile robot as the research object (such as figure 1 shown).

[0015] (1) Model description. It has two independent propulsion wheels on the same axis. The robot moves in two-dimensional space. Point P represents the current position of the robot. Point P is defined as [x in generalized coordinates p ,y p , θ p ],x p and y p is the coordinate of P in the Cartesian coordinate system, θ p is the orientation angle of the robot. At time k, for point P, the discrete kinematics equation of the mobile robot can be described by the following equation:

[0016] x p ( k + 1 ) ...

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Abstract

The invention relates to a method for controlling trajectory tracking of a mobile robot, which solves the problem of selection of gain parameters. The method comprises the following steps: (1) a state of an actual trajectory is participated in iterative operation each time on the basis of conventional proportion integration differentiation (PID) iterative learning control, so that the control effect is close to an expected value; (2) a form of a learning gain matrix in a model algorithm learning law is introduced into a learning gain matrix of a PID algorithm. The problem that the gain matrix is difficult to acquire is solved. According to the controller, the trajectory tracking of a wheeled robot can be well realized.

Description

technical field [0001] The invention belongs to the technical field of robot control and relates to a design method of a controller for track tracking of a wheeled robot. Background technique [0002] A mobile robot is a comprehensive system integrating environmental perception, dynamic decision-making and planning, motion control and execution. Its research involves theories and technologies of computer vision, pattern recognition, sensor and multi-sensor information fusion technology, artificial intelligence, automatic control and many other disciplines. Value. [0003] Wheeled mobile robot is the most widely used mobile robot. Although the stability of motion has a lot to do with the road conditions on the road surface, how to achieve precise trajectory control in complex terrain, etc., but because of its light weight, large load, simple mechanism, relatively convenient driving and control, fast walking speed, maneuverability Flexible, high work efficiency and other ad...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04G05D1/02
Inventor 陈奕梅
Owner TIANJIN POLYTECHNIC UNIV
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