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Movement subdivision control method of wheeled mobile robot

A mobile robot, segmented control technology, applied in the direction of adaptive control, general control system, control/regulation system, etc.

Inactive Publication Date: 2014-07-16
ZHEJIANG NORMAL UNIVERSITY
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] The technical problem to be solved by the present invention is: aiming at the deficiencies of the prior art, the present invention provides a segmented motion control method for wheeled mobile robots, which divides the entire control process into different stages, and aims at certain For these problems, use different control modules to control them, and solve the problems in each stage while realizing trajectory tracking

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  • Movement subdivision control method of wheeled mobile robot
  • Movement subdivision control method of wheeled mobile robot
  • Movement subdivision control method of wheeled mobile robot

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Embodiment Construction

[0050] The present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments.

[0051] Such as figure 1 As shown, in the schematic diagram of the tracking error of the wheeled mobile robot in the embodiment of the present invention, x and y represent the position coordinates of the wheeled mobile robot, θ represents the azimuth of the vehicle body; the current actual pose of the wheeled mobile robot is expressed as p c (t)=[x(t)y(t)θ(t)] T , any given reference pose is denoted as p r (t)=[x r (t) y r (t) θ r (t)] T ; Pose error is X e (t)=[x e (t) y e (t) θ e (t)] T ;The actual driving speed of the current driving wheel is q c (t) = [v(t) ω(t)] T , the reference driving speed is q r (t)=[v r (t) ω r (t)] T , where v r is the reference linear velocity, ω r is the reference angular velocity.

[0052] Such as figure 2 As shown, the wheeled mobile robot system used in the embodiment of the presen...

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Abstract

The invention discloses a movement subdivision control method of a wheeled mobile robot. The movement subdivision control method of the wheeled mobile robot comprises the steps that (1) three trajectory tracking movement control strategies based on a biologically inspired neural dynamic model, an energy optimization model and a model predictive control model are integrated; (2) a current posture error vector is worked out according to a current actual posture obtained through feedback and a reference posture given by a route planning algorithm; (3) the control strategy is selected according to the stage where the mobile robot is located, if it is in an early tracking period, the trajectory tracking movement control strategy based on the biologically inspired neural dynamic model is selected; if it is in a medium tracking period, the trajectory tracking movement control strategy based on the energy optimization model is selected; if it is in a later tracking period, the trajectory tracking movement control strategy based on the model predictive control model is selected. The movement subdivision control method of the wheeled mobile robot can achieve the best control over the whole process of the wheeled mobile robot, and achieve robustness, energy saving performance and stability while carrying out accurate trajectory tracking.

Description

technical field [0001] The invention mainly relates to the field of robot automatic control, in particular to a trajectory tracking control method suitable for wheeled mobile robots. Background technique [0002] Motion control is the most basic problem in the research of wheeled mobile robot systems. Accurate motion control capability is not only the basis for multi-wheeled mobile robot system coordination, but also the key to the successful application of wheeled mobile robots in various fields. [0003] Compared with fixed-base robots, mobile robots have larger and more flexible workspaces, but at the same time wheeled motion introduces nonholonomic constraints. As a class of typical nonholonomic systems and complex nonlinear systems, the stabilization and tracking of mobile robots have attracted widespread attention, and the research on the control strategies of nonholonomic constrained mobile robots has become a hot spot in robotics research. In recent years, for the t...

Claims

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Application Information

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IPC IPC(8): G05B13/04
Inventor 尹晓红杨灿阚君武
Owner ZHEJIANG NORMAL UNIVERSITY
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