Non-time-based differential drive robot set-point tracking control method

A non-time reference, differential drive technology, applied in the direction of non-electric variable control, two-dimensional position/channel control, control/regulation system, etc., can solve the problem of high accuracy of wheel speed control, the inaccessibility of robots, and fixed-point tracking failure and other issues

Active Publication Date: 2016-08-24
TSINGHUA UNIV
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Problems solved by technology

The trajectory planning and trajectory tracking method realizes the fixed-point tracking method of the robot by designing the function of the change of the wheel speed with time, which has high requirements for the control accuracy of the wheel speed. When the speed control error occurs in the drive motor, the robot cannot reach the target point, resulting in fixed-point tracking. fail

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  • Non-time-based differential drive robot set-point tracking control method
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  • Non-time-based differential drive robot set-point tracking control method

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Embodiment Construction

[0048] A non-time-referenced differential drive robot fixed-point tracking control method proposed by the present invention is further described below in conjunction with the accompanying drawings and specific embodiments:

[0049] An embodiment of a fixed-point tracking control method for a non-time-referenced differential drive robot proposed by the present invention is used for the fixed-point tracking control of a two-wheeled robot. The implementation process of the two-wheel robot fixed-point tracking control method is as follows: Figure 5 shown, including the following steps:

[0050] 1) The controller of the robot starts, and the robot enters the fixed-point tracking control state;

[0051] 2) The controller communicates with the external monitoring system in real time to obtain the position of the current target point P and the target heading angle θ at the current target point P r information, if the robot heading angle θ is the same as the target heading angle θ a...

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Abstract

The invention relates to a non-time-based differential drive robot set-point tracking control method, and belongs to the technical field of set-point tracking control of differential drive robots. The method comprises the following steps: a controller communicates with an external monitoring system in real time to get the information of a target point; a robot self-rotation control mode is selected according to the difference between the heading angle of a robot and the target heading angle at the target point; a robot set-point tracking control mode is judged according to the relative distance between the robot and the target point; the wheel speed is calculated according to the location and heading angle of the robot and the location of and the target heading angle at the target point and implemented by a drive motor; and if the robot arrives at the final target point, control is over, or, next target point is tracked. According to the method, there is no need to plan a route, the designed law of speed control is irrelevant to the time factor, the drive motor can implement the calculated wheel speed easily, and the robot can easily track a single target point and continuously track multiple target points in sequence.

Description

technical field [0001] The invention belongs to the technical field of fixed-point tracking control of differential drive robots, in particular to the fixed-point tracking control of wheeled robots and wheeled walking devices based on differential drive such as two-wheel, three-wheel, four-wheel, and six-wheel. Background technique [0002] The differential drive robot is a wheeled robot that controls the speed of the wheels on both sides through two drive motors to achieve linear or curved motion. It is widely used because of its simple structure, high transmission efficiency and flexible control. With the continuous improvement of the intelligence of wheeled robots, this kind of intelligent robot has been used in many fields, such as cargo transportation in production workshops, hazardous environment surveys, indoor cleaning, etc. [0003] The robot's tasks such as item transportation and indoor cleaning can be completed by controlling the robot to track a single target po...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0276G05D2201/0217
Inventor 李红王文军李克强
Owner TSINGHUA UNIV
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