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A mobile robot control method based on tensor product model transformation

A technology of mobile robot and model transformation, applied in the direction of non-electric variable control, two-dimensional position/channel control, control/regulation system, etc., can solve problems such as not considering constraints, achieve good real-time performance, ensure stability, Easy to handle effects

Active Publication Date: 2019-03-19
HOHAI UNIV CHANGZHOU
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Problems solved by technology

However, none of these research works considered intrinsic constraints, including drive saturation, maximum velocity, and constraints on some state variables of robot dynamics

Method used

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  • A mobile robot control method based on tensor product model transformation
  • A mobile robot control method based on tensor product model transformation
  • A mobile robot control method based on tensor product model transformation

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Experimental program
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Embodiment 1

[0088] As attached figure 1 As shown, the motion model of the mobile robot is as follows:

[0089]

[0090] Define the pose vector of the robot in the world coordinate system as (x R ,y R ,θ R ] T , Where x R ,y R Is the coordinate value on the X and Y coordinate axes in the global coordinate space, that is, the position information of the robot, θ R Is the angle between the direction of the robot and the X axis, that is, the angle of the forward direction, ν R , Ω R These are the linear velocity and angular velocity of the robot.

[0091] Knowing that the distance between the centers of the left and right wheels of the robot is 2r, the movement of the robot is controlled by the left and right wheels differentially, the robot movement model relative to the speed of the left and right wheels is derived as:

[0092]

[0093] There are the following non-integrity constraints:

[0094]

[0095] Such as figure 1 As shown, assuming that there is only translation transformation between the ...

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Abstract

The invention discloses a tensor-product-model-transformation-based mobile robot control method. The mobile robot is composed of a web camera, a PC machine, a vision sensor, a prediction controller and a dual-wheel drive robot body. A tensor product (TP) model transformation principle is introduced into image vision servo control and thus jacobian vertex matrix of an image is obtained; and a restriction problem of the mobile robot is classified into solution of a convex optimization problem by linear matrix inequality, thereby obtaining a control signal, so that the system has closed-loop asymptotic stability. According to the invention, the mobile robot can be driven from a randomly designated pose to an expected vision feature location pose. While the system input restraint is guaranteed, the feature point does not exceed the view field. Compared with traditional IBVS, the method is characterized in that the inverse of the image jacobian matrix is solved directly, thereby avoiding consideration of image singularity. Compared with prediction controlling, the good real-time performance is realized. The system has closed-loop asymptotic stability.

Description

Technical field [0001] The invention relates to a mobile robot control method based on tensor product model transformation, belonging to the field of mobile robot control. Background technique [0002] Observing the characteristics of image-based mobile robot visual servoing control methods at home and abroad in recent years, the main focus is on the online estimation of the image Jacobian matrix. Zeng Xiangjin, Huang Xinhan and others used the Broyden dynamic method to estimate the Jacobian matrix online to control the robot movement. This method is adaptive, but when the robot motion parameters cannot be identified or large deviations appear in the image, the stability of the visual servo control algorithm cannot be guaranteed. Gao Zhendong et al. used a local fitting method to estimate the Jacobian matrix of the image, which can obtain a more accurate value of the Jacobian matrix of the image and compensate for the time delay caused by image processing. However, these resear...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0246
Inventor 王婷婷韩雪张驰张杰马霰庄兴昌杨雨
Owner HOHAI UNIV CHANGZHOU
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