Wheeled mobile robot target tracking control method based on point stabilization

A mobile robot and target tracking technology, which is applied in the field of target tracking control of wheeled mobile robots based on point stabilization, and can solve problems such as target loss and robot motion occlusion.

Active Publication Date: 2016-09-07
SOUTHEAST UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The camera of the eye-to-hand system is installed outside the robot body, and the robot is controlled to track the target by obtaining the target and the control pose of the robot through the camera. This kind of system is not easy to lose the target, but the movement of the robot is easy to cause the target to be blocked.
The camera of the eye-in-hand system is installed on the robot body, and the camera is driven by the movement of the robot. This type of system has a strong advantage in preventing target occlusion, but it is prone to target loss

Method used

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  • Wheeled mobile robot target tracking control method based on point stabilization
  • Wheeled mobile robot target tracking control method based on point stabilization
  • Wheeled mobile robot target tracking control method based on point stabilization

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Embodiment Construction

[0034] Below in conjunction with accompanying drawing, the present invention will be further described: the present invention is applicable to the wheeled mobile robot control system that has the external sensor such as monocular camera head, and its kinematics model and coordinate system are established as follows figure 1 shown. The system obtains the target deviation from the target ranging module, and designs a motion controller in combination with the expected tracking distance to control the wheeled mobile robot to continuously track the target.

[0035] like figure 2 As shown, a target tracking control method for a wheeled mobile robot based on point stabilization, specifically includes the following steps:

[0036] (1) Analyze the wheeled mobile robot and establish a non-complete kinematics model of the wheeled mobile robot, specifically:

[0037] x · = v ...

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Abstract

The invention discloses a wheeled mobile robot target tracking control method based on point stabilization. The method is characterized by, to begin with, establishing a wheeled mobile robot kinematic model, obtaining relative position of a target through an external sensor and establishing a virtual tracking target; and then, designing a linear velocity and angular velocity controller, and proving that the designed controller can enable the virtual target trajectory to be converged to a real target through lyapunov stability theory and LaSalle invariance principle, which represents that a wheeled mobile robot tracks the target. The tracking control method can enable a wheeled mobile robot system to be asymptotically stable; the robot tracks the target effectively; and simulation and experiment results prove reasonability of the control method.

Description

technical field [0001] The invention relates to the field of servo control of a wheeled mobile robot, in particular to a point stabilization-based target tracking control method for a wheeled mobile robot. Background technique [0002] Wheeled mobile robots have incomparable advantages in the application of automatic material handling, special population services, emergency rescue and disaster relief, and exploration of dangerous areas. They have been widely used in industries, agriculture, service industries, national defense, and space exploration. The production and life of human society have had a positive and far-reaching impact. For example, the "Curiosity" Mars Exploration Rover developed by NASA successfully landed on Mars, laying a solid foundation for human exploration of extraterrestrial life. In recent years, research on the control of wheeled mobile robots has produced many branches, one of which is the research on visual servo control. With the development of...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/12
CPCG05D1/12
Inventor 翟军勇肖大伟
Owner SOUTHEAST UNIV
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