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Motion planning and controlling method for tractor-trailer mobile robot in complex environment

A mobile robot and motion planning technology, applied in two-dimensional position/channel control, adaptive control, general control system, etc.

Inactive Publication Date: 2014-07-23
UNIV OF JINAN
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, there is still no effective path planning and control method, which can quickly reach the destination position while ensuring the optimal path.

Method used

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  • Motion planning and controlling method for tractor-trailer mobile robot in complex environment
  • Motion planning and controlling method for tractor-trailer mobile robot in complex environment
  • Motion planning and controlling method for tractor-trailer mobile robot in complex environment

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Embodiment Construction

[0034] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0035] The motion planning and control method of the trailer-type mobile robot in the complex environment of the present invention, such as figure 1 As shown in Fig. 1, the configuration diagram of the tractor and the trailer and the setting diagram of the vehicle body parameters are given. The trailer-type mobile robot includes the tractor and the trailer, and the tractor and the trailer are connected by a link point. Angle sensor used to measure the rotation angle of the longitudinal line of the trailer relative to the longitudinal line of the tractor; the tractor is driven by the rear wheels and steered by the front wheels, and the steering angular velocity of the front steering wheels of the tractor is , the longitudinal speed of the tractor is , and there is no slippage between the wheels and the ground; the distance between the driving wheel an...

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Abstract

The invention discloses a motion planning and controlling method for a tractor-trailer mobile robot in a complex environment. The method includes the steps: a) defining initial and terminal configurations; b) detecting obstacles obs<k>(x<k>, y<k>, cer<k>) by a sonar sensor; c) rejecting the obstacles with confidence coefficient cer<k> smaller than delta; d) defining an obstacle space OBS; e) generating a region Rgn<1>=(obs<k>); f) judging whether the obstacles belong to the space Rgn<j>, j=1, 2, ...n; g) judging whether the obstacle space is built or not; h) building bidirectional search random trees Tree_H and Tree_G; i) randomly generating a configuration X<rand>; j) acquiring new configurations X<new_H> and X<new_G>; k) judging whether the trees Tree_H and Tree_G are connected or not; l) fitting straight paths; m) controlling motion; n) judging whether new obstacles exist or not. The motion path planning and controlling method for the tractor-trailer mobile robot in the complex environment is scientific, reasonable and complete, and lays a theoretical foundation for researching running of the unmanned tractor-trailer mobile robot in the environment with the obstacles.

Description

technical field [0001] The present invention relates to a motion planning and control method of a towed mobile robot, more specifically, to a complex environment in which obstacles can be avoided and paths can be modified according to new obstacles detected during operation Motion planning and control method of a trailer-type mobile robot. Background technique [0002] Tractor-trailer Mobile Robot (TTMR) is a special kind of mobile robot, which consists of a front-end tractor (tractor) and multiple passive trailers (trailer) dragged by it. The towing vehicle performs the steering and driving functions while the trailer follows the towing vehicle. On the one hand, the trailer-type mobile robot has the motion ability of the mobile robot, and on the other hand, it can expand other functions of the mobile robot. For example, a cleaning robot can tow a truck for cleaning and collecting garbage behind the mobile robot, thereby reducing costs and improving efficiency; in addition...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02G05B13/04
Inventor 程金张勇王中华
Owner UNIV OF JINAN
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