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Method for robot trolley path following

A robot and car technology, applied in the field of information processing, can solve the problems of prone to jitter, rapid steering of robot car, and insufficient smooth movement.

Active Publication Date: 2016-08-17
BEIJING JIUXING ZHIYUAN TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Due to the randomness of the movement of the follower, a simple straight-line follower is adopted. Although the path is the shortest, the robot car turns quickly, is prone to jitter, and the movement is not smooth enough.

Method used

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  • Method for robot trolley path following
  • Method for robot trolley path following
  • Method for robot trolley path following

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0037] Embodiment 1: as figure 1 , figure 2 As shown, a robot car path following method, the first ultrasonic module A and the second ultrasonic module B are respectively installed on both sides of the robot car.

[0038] If the follower is at D, the robot car will arrive at D along the dotted arc trajectory, and its following speed is proportional to ρ; ρ is the linear distance from the robot to the target point.

[0039] Specifically, build as figure 1 In the robot coordinate system shown, the coordinate origin is located at the center of the rear wheel (AB center), the direction of the y-axis is the forward direction of the car, and the direction of the x-axis is the axial direction of the rear wheel. The coordinates of the follower D in the robot coordinate system are (x, y), then:

[0040] ρ = x 2 + y 2 ...

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Abstract

The invention relates to a method for robot trolley path following and belongs to the technical field of information processing. A robot trolley moves towards a target following point according to an arc path; and the movement velocity of the robot trolley is in direct proportion to the straight-line distance between the robot and a target point. The method has the advantages that the real-time tracking of the robot trolley relative to a followed object is achieved; a tracking algorithm is efficient and practical; and the shaking of the robot trolley is reduced, so that following motions are smooth and natural.

Description

technical field [0001] The invention relates to a path following method for a robot trolley, which belongs to the technical field of information processing. Background technique [0002] Following the robot can help people solve many problems in real life, such as autonomously following the camera, following the shopping, following the lead, etc. Therefore, following the robot is becoming a major trend in the development of robots. In order to realize the following of the robot to the human, it is necessary to solve the problem of how the robot moves from the current position to the position of the follower, that is, the point-to-point path following problem. The robot car can follow a straight path from one point to another, that is, the robot car first turns to the direction of the follower, and then moves to the target position in a straight line. Due to the randomness of the movement of the follower, simple straight-line following is adopted. Although the path is the sh...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0214
Inventor 王治彪毕树生杨春卫牛传猛
Owner BEIJING JIUXING ZHIYUAN TECH CO LTD
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