Non-time reference differential drive robot path tracking control method

Abstract

The invention provides a non-time reference differential drive robot path tracking control method, and belongs to the technical field of differential drive robot path tracking control. The method comprises the steps that in an overall coordinate system corresponding to an overall target path, if the X-axis coordinate value of the overall target path is monotonously changed, a robot controller is directly switched into a path tracking control state, and if not, the overall target path is divided into a plurality of local paths, a local coordinate system corresponding to the local paths is established, the X-axis coordinates of the local paths are monotonously changed in the local coordinate system, and the robot controller is switched into path tracking control; and the target path information and the robot position and azimuth angle information are obtained in real time, the advancing speed of a robot is controlled through a speed instruction obtained through calculation till the robot reaches the terminal point of the overall path, and the path tracking control is ended. According to the method, a motor can be conveniently driven, the calculated wheel driving speed is achieved, and the robot can be easily controlled to run along the target path.

Description

technical field [0001] The invention belongs to the technical field of route tracking control of a differential drive robot, and in particular relates to the route tracking control of a wheeled robot and a wheeled traveling device based on differential drive, which are applicable to two-wheel, three-wheel, four-wheel, six-wheel, etc. Background technique [0002] With the progress of human society and the development of science and technology, wheeled mobile robots have been widely used in many areas of people's production and life, such as cargo handling robots in production workshops, drug delivery robots in hospitals, indoor ground Cleaning robots, intelligent wheelchair robots, etc. The differential drive robot uses two servo motors to control the wheel speed to track the target route or target point. It is widely used because of its simple structure, high transmission efficiency and flexible control. The robot's route-following ability is the key to its specific tasks....

AI Technical Summary

Problems solved by technology

The structure of the route tracking controller based on fuzzy control logic is not easy to determine, and a large amount of experimental operation data is required to train the fuzzy controller

The method of designing the wheel speed versus time function to realize the robot route tracking method requires high wheel speed control accuracy. When the speed control deviation of the drive motor occurs, the route tracking will fail.

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