A running robot and its tracking control strategy and motion control method

Abstract

An accompanying running robot and its tracking control strategy and motion control method. The robot includes a motion actuator, a Kinect sensor, a data transfer station, a host computer system, a power module, a serial port module and an embedded motion controller; the Kinect sensor transfers data through The station is connected to the upper computer system; the data transfer station is connected to the motion actuator through the serial port module, the embedded motion controller; the power supply module supplies power to the Kinect sensor, the motion embedded controller and the motion actuator; the motion actuator includes the chassis, Three sets of omnidirectional wheels and motors, three sets of omnidirectional wheels are fixed on the chassis, the distance between the omnidirectional wheel sets is equal, the motor is connected with the embedded motion controller, and the motor drives the omnidirectional wheels. The accompanying robot of the present invention is provided with a three-wheeled omnidirectional wheel structure on the chassis, so that the accompanying robot has high flexibility and can quickly move in any direction, such as longitudinal travel, horizontal movement and spin.

Description

technical field [0001] The present invention relates to the field of autonomous mobile robots, and more specifically, to an accompanying robot and its tracking control strategy and motion control method Background technique [0002] With the improvement of people's quality of life, robots that move autonomously can replace people to complete various tasks such as ordinary cleaning work, cargo handling, children's education, and family entertainment. Robots that can move flexibly and autonomously and interact with people are not only A high-tech with great application prospects is also the research focus of the current robotics industry. [0003] At present, the development of mobile robots that autonomously track target objects is in its infancy and has not been widely promoted. In the prior art, three kinds of following robots are provided: the following robot (1) collects depth information through the Kinect sensor, dynamically updates and saves the map, and successfully ...

AI Technical Summary

Problems solved by technology

When tracking the human body, due to the arbitrariness of the human body's movement, the following robots (1), (2) are not enough to enable the mobile robot to quickly follow the human body regardless of the structure or control method; in addition, the following robot (1) ), (2), and (3) platforms are all two-wheel differential structures, and the mobile robots with two-wheel differential structures are non-omnidirectional mobile robots, and their flexibility in moving is relatively insufficient; at the same time, the following robot ( 1), (2), (3) When tracking the target object, the movement speed is slow, and it is difficult to realize the function of jogging with the human body

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