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A direction angle control method for an n-section towed mobile robot during reverse motion

A mobile robot, reverse motion technology, applied in the direction of control using feedback, can solve problems such as reverse motion instability

Inactive Publication Date: 2019-01-29
UNIV OF JINAN
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  • Description
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  • Application Information

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Problems solved by technology

[0002] The problem of inverse kinematics control of a mobile robot with an n-section trailer is a very challenging task due to the characteristics of the system, such as highly nonlinear kinematics, nonholonomic constraints, structural singularities, and instabilities during inverse kinematics
Based on a chained system, a feedback control method with exponential stability is proposed to solve the stability problem of a robot with an n-section trailer

Method used

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  • A direction angle control method for an n-section towed mobile robot during reverse motion
  • A direction angle control method for an n-section towed mobile robot during reverse motion
  • A direction angle control method for an n-section towed mobile robot during reverse motion

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Embodiment Construction

[0059] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0060] Such as figure 1 As shown, the structural representation of the n-section trailer-type mobile robot of the present invention is provided. The trailer-type mobile robot is composed of a tractor and a rear-end n-section trailer. The front wheel steering angle is The linear velocity is v, which defines when the front wheel turns to the left, When the front wheels turn to the right, The n-section trailer is connected to the front tractor or trailer through the axle, and the wheelbase of the tractor is L 1 , the connecting rod lengths of n-section trailers are L 2 , L 3 ,...,L n+1 ;P i (x i ,y i )(i=1,2,...,n+1) is a Cartesian coordinate system established at the center of the rear axle of the tractor and trailer.

[0061] The direction angle control method when the mobile robot moves backwards is realized through the following steps:

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Abstract

The invention discloses a direction angle control method of an n-section pull-type moving robot during reverse motion. The pull-type moving robot is composed of a tractor and n sections of trailers at the rear end. The direction angle control method is characterized in that starting from the last section of the trailers, according to the rule that reference included angle and tracking error of behind trailers meet conditions of motion stability, reference included angle of previous trailers are derived, and a steering angle, related to current included angle of the n trailers, of the tractor is calculated finally, and the tractor moves according to the steering angle to drive the pull-type moving robot to stably move reversely. By the direction angle control method, the problem of direction tracking control of the robot with the n trailers is solved, and theoretical guidance is provided for reverse motion control of the n-section pull-type moving robot. The direction angle control method has remarkable beneficial effect and is suitable for application and popularization.

Description

technical field [0001] The present invention relates to a direction angle control method for an n-section towed mobile robot during reverse motion, more specifically, a method based on a recursive control design process that converts the tracking control problem of the direction angle into the included angle of the car body A direction angle control method for an n-section trailer-mounted mobile robot in reverse motion for a stability control problem. Background technique [0002] The problem of inverse kinematics control of a mobile robot with an n-section trailer is a very challenging task due to the characteristics of the system, such as highly nonlinear kinematics, nonholonomic constraints, structural singularities, and instabilities during inverse kinematics . At the same time, the input and state of the system have limit constraints, and the control input need to meet body angle These characteristics make it very difficult to control the robot to reverse motion ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D3/12
CPCG05D3/12
Inventor 程金王滨赵钦君徐元
Owner UNIV OF JINAN
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