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Method for tracking trajectories of tracked robots

A trajectory tracking and robot technology, applied in two-dimensional position/channel control and other directions, can solve the problems of low construction efficiency, potential safety hazards, time-consuming and labor-intensive, etc.

Inactive Publication Date: 2015-05-20
NORTH CHINA ELECTRIC POWER UNIV (BAODING) +2
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The present invention provides a trajectory tracking method for a crawler robot, which overcomes the above deficiencies in the prior art, and can effectively solve the existing problems of time-consuming and labor-intensive construction, low construction efficiency, and potential safety hazards

Method used

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  • Method for tracking trajectories of tracked robots
  • Method for tracking trajectories of tracked robots
  • Method for tracking trajectories of tracked robots

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Embodiment Construction

[0027] The present invention is not limited by the following examples, and specific implementation methods can be determined according to the technical solutions of the present invention and actual conditions.

[0028] Below in conjunction with embodiment and accompanying drawing, the present invention will be further described:

[0029] as attached figure 1 As shown, the trajectory tracking method of the crawler robot is carried out according to the following steps: Step 101, in the plane two-dimensional coordinate system, establish the initial kinematic equation of the crawler robot; Step 102, set the switching function, and calculate the The control function of the reaching law; step 103, use the exponential gain based on the switching function to replace the constant gain, calculate the sliding mode control law based on the exponential reaching law; step 104, use for each group of input data and each group of output data Based on the sliding mode control law of the expone...

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Abstract

The invention relates to the technical field of methods for intelligently controlling robots, and discloses a method for tracking trajectories of tracked robots. The method includes steps of establishing initial kinematical equations of the tracked robots; setting switching functions and computing control functions on the basis of conventional approaching laws; replacing constant gain by exponential gain on the basis of the switching functions, and computing sliding-mode control laws on the basis of exponential approaching laws; establishing initial control function matrixes of the tracked robots for each group of input data and each group of output data by the aid of the sliding-mode control laws on the basis of the exponential approaching laws; adjusting the directions of the tracked robots into tangential directions along the movement trajectories; computing control function matrixes of the tracked robots by the aid of the sliding-mode control laws on the basis of the exponential approaching laws. The method has the advantages that the trajectories of the robots can be intelligently controlled according to path planning, accordingly, the operational difficulty can be relieved for drivers, and the cross-country capacity of the tracked robots in complex terrains can be improved.

Description

technical field [0001] The invention relates to the technical field of robot intelligent control methods, and relates to a trajectory tracking method for a crawler robot. Background technique [0002] Tracked robots have been paid more and more attention due to their good off-road maneuverability, traction adhesion, excellent self-resetting and obstacle-surmounting capabilities. Especially in complex terrain, tracked robots have obvious advantages over other robots. However, to control the tracked device, the driver must complete a series of complex mechanical operations, which not only increases the driver's workload, but also reduces the tracked robot. The ability of the device to maneuver in complex terrain, therefore, it is very important to automatically control the tracked robot according to the path planning. [0003] At present, many scholars at home and abroad have studied the trajectory tracking problem of crawler robots. A commonly used method is to design a "ti...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
Inventor 李国栋李小龙李凯陈建新宋志新黄琳华
Owner NORTH CHINA ELECTRIC POWER UNIV (BAODING)
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