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Wheeled mobile robot trace tracking control method based on energy saving consideration

A mobile robot, trajectory tracking technology, applied in two-dimensional position/channel control and other directions, can solve problems such as not being well solved

Inactive Publication Date: 2015-04-01
ZHEJIANG NORMAL UNIVERSITY
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Problems solved by technology

However, based on the consideration of energy saving, the control problem that can realize the accurate tracking of the established trajectory of the wheeled mobile robot has not been well solved so far.

Method used

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  • Wheeled mobile robot trace tracking control method based on energy saving consideration
  • Wheeled mobile robot trace tracking control method based on energy saving consideration
  • Wheeled mobile robot trace tracking control method based on energy saving consideration

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Embodiment Construction

[0078] The present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments.

[0079] Such as figure 1 As shown, a three-wheeled wheeled mobile robot is used in the embodiment of the present invention, and its front wheels are both steering wheels and driving wheels, which are respectively realized by a steering motor and a driving motor. exist figure 1 In the trajectory tracking schematic diagram shown, 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 , the reference pose given by the path planning algorithm is denoted as p r (t)=[x r (t) y r (t) θ r (t) T ; Pose error is p e (t)=[x e (t) y e (t) θ e (t)] T ;The actual speed of the car body at the current moment is q(t)=[v(t) ω(t)] T , the reference velocity is q r (t)=[v r (t) ω r ...

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Abstract

The invention relates to a wheeled mobile robot trace tracking control method based on energy saving consideration, and belongs to the field of robot control. The method comprises the following steps that according to energy consumption characteristics of a wheeled mobile robot, the energy consumption optimization of a driving motor during cruising of the robot is intensively considered, and a motor energy consumption model is built; according to the trace tracking characteristic of the wheeled mobile robot, a kinematic model and a tracking error model are built, and a kinematic tracking sub controller is designed; a correlation model of the kinematic model and the motor energy consumption model is built according to an inherent correlation mechanism between the kinematic model and the motor energy consumption model; finally, an energy-saving sub controller is obtained, so that the wheeled mobile robot trace tracking control method based on energy saving consideration is obtained. The wheeled mobile robot trace tracking control method has the advantages that the global stability of a system and the high-precision and low-energy-consumption control of the whole process of the wheeled mobile robot can be controlled, so that the precise trace tracking is realized, and meanwhile, the energy optimization is realized.

Description

technical field [0001] The invention mainly relates to the field of control of mobile robots, in particular to a trajectory tracking control method suitable for wheeled mobile robots. Background technique [0002] The size and scale of a robot's ability is a symbol of a country's technological level, so research institutions around the world attach great importance to research in this area. Mobile robot is an important branch of robotics. With the rapid development of computer, artificial intelligence, mechatronics and automation technologies, the research of mobile robot has entered a new stage. There are several types of common mobile robots, such as wheeled, crawler, legged, and meandering. Among them, wheeled mobile robots are the most common in practical applications due to their long history and mature design. [0003] Trajectory tracking control is a basic issue in the research of wheeled mobile robots and the core of intelligent technology. Therefore, improving the ...

Claims

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Application Information

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IPC IPC(8): G05D1/02
Inventor 尹晓红杨灿周武阚君武吴金洪
Owner ZHEJIANG NORMAL UNIVERSITY
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