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A method for determining the trajectory of the patroller's heading and in-position control

A determination method and patrol technology, applied in three-dimensional position/channel control and other directions, can solve the problem of not considering the heading problem, and achieve the effect of increasing the control complexity, smoothing the trajectory motion, and reducing the detection efficiency.

Active Publication Date: 2017-05-31
BEIJING INST OF CONTROL ENG
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] Most of the existing motion control methods for mobile robots use point-to-point motion control to ensure the accuracy of point positioning, without considering the heading problem after positioning

Method used

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  • A method for determining the trajectory of the patroller's heading and in-position control
  • A method for determining the trajectory of the patroller's heading and in-position control
  • A method for determining the trajectory of the patroller's heading and in-position control

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Embodiment Construction

[0027] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0028] The starting point and heading of the patrol are known as (x 1 ,y 1 ,ψ 1 )=(0,0,0°), the position and course of the target point are (x 2 ,y 2 ,ψ 2 )=(-1,5,30°). To determine the desired trajectory of the patroller, the steps are as follows:

[0029] (1) Calculate boundary curvature

[0030] Note that the current point of the inspector is point A, and the target point is point B.

[0031] Make an arc through two points A and B, make it tangent to the yaw direction of point A, record it as arc 1, corresponding to curvature C A is -0.0769; make an arc through two points A and B, make it tangent to the yaw direction of point B, record it as arc 2, corresponding to curvature C B is 0.2589.

[0032] (2) Determine the midway point M of the trajectory

[0033] Draw an arc through two points A and B, curvature C M is 0.0910, which ...

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Abstract

The invention discloses a method for determining a heading in-place control track of a patroller. The method comprises steps as follows: judging an initial heading in-place track, selecting a midway point of a smooth track and determining a final track. According to the method, point in-place and heading control are separated, the heading is adjusted in an on-site steering mode after point in-place, the detection efficiency is improved and the control complication is reduced.

Description

technical field [0001] The invention relates to a method for determining a heading control trajectory of a cruiser, which belongs to the field of navigation control of mobile robots. Background technique [0002] Arriving at a specified location with a specified heading is one of the navigation control requirements of the patroller. When the current position and heading are known, it is necessary to design a reasonable trajectory so that it moves to the specified target position, and the heading angle is the specified value when reaching the position. The control trajectory should meet the following requirements: first, the complete motion trajectory is composed of one or more arc trajectories (or straight lines); second, the number of arc trajectories (or straight lines) is as small as possible; third, the trajectory movement is smooth, avoiding excessive curvature. big case. [0003] Most existing motion control methods for mobile robots use point-to-point motion control...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/10
Inventor 邢琰滕宝毅刘祥毛晓艳贾永
Owner BEIJING INST OF CONTROL ENG
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