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Geometric path tracking method for mobile robot with uncertain center of mass

A mobile robot and geometric path technology, applied in the field of robot control, can solve problems such as uncertain center of mass position

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

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Problems solved by technology

[0004] In order to overcome the deficiencies of the above technologies, the present invention proposes a method for tracking the geometric path of a mobile robot system in which the position of the centroid of the temporary path is uncertain

Method used

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  • Geometric path tracking method for mobile robot with uncertain center of mass
  • Geometric path tracking method for mobile robot with uncertain center of mass
  • Geometric path tracking method for mobile robot with uncertain center of mass

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Embodiment Construction

[0018] The present invention will be further described below in conjunction with accompanying drawing.

[0019] 1. The establishment of the motion model of the mobile robot with uncertain center of mass position.

[0020] figure 1 , the distance between the two wheels is d, P is the midpoint of the axis of the two wheels, u 1 is the forward speed of point P, x 3 Indicates the relative axis x of the mobile robot 1 the corner of is the angular velocity of the robot, u 1 and u 2 for the control amount. C is the center of mass of the robot. Due to load and other factors, the center of mass C and P do not coincide. Let L be the distance between point C and point P. When the center of mass is located in the front half of the two axles, L is positive, otherwise it is negative. L shown in the figure is negative. γ represents the angle of the center of mass C of the robot from the central axis, assuming

[0021] γ∈(-π / 2, π / 2). The kinematics model of the mobile robot with th...

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Abstract

The invention belongs to the technical field of robot control and in particular relates to a path tracking method for a mobile robot system with an uncertain center of mass. The method comprises the following steps: a temporary path is added, so that the robot departs from an initial position and moves forwards along the temporary path, and the robot is allowed to track an expected path when the robot moves to the expected path. Because the initial position of the robot is positioned on the temporary path, and only when the robot moves nearby the expected path, the robot can track the expected path, so that only a fuzzy controller is designed aiming at the small error condition. Regardless of the initial position, a temporary path can be designed to allow the robot to approach to the expected path, and tracking on the expected path is realized, so that path tracking at any initial point is realized.

Description

Technical field: [0001] The invention belongs to the technical field of robot control, and relates to a geometric path tracking method for a mobile robot with an uncertain center of mass. Background technique: [0002] Robot tracking control is divided into trajectory tracking and path tracking. For path tracking problems. There have been a lot of reports on the path tracking problem when the robot's center of mass is exactly at the geometric center of the wheel axle; when the robot's center of mass is not at the geometric center of the wheel axle, but on the central axis of the two driving wheels, the robot's geometric path tracking problem has also been reported. As we all know, the designed robot is ultimately loaded, and the position of the load will directly affect the position of the center of mass of the entire robot system. Usually, the position of the center of mass is not on the central axis of the two driving wheels, and its exact position is not easy to determine...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
Inventor 师五喜
Owner TIANJIN POLYTECHNIC UNIV
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