Storage equipment and robot
A storage device and robot technology, applied in the field of navigation control, can solve the problem of not considering the relationship between control angular velocity and linear velocity, can not solve the problem of precise control of robot speed, precision deviation, etc., and achieve the effect of solving the mismatch between linear velocity and angular velocity
Active Publication Date: 2017-12-08
上海吉导机器人有限公司
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Problems solved by technology
If the trajectory tracking lags, then when the rate of change of the trajectory curve is relatively large, the trajectory tracking lag will cause a greater accuracy deviation
[0007] 2. The relationship between angular velocity and linear velocity is not considered
Using the fuzzy controller alone cannot solve the problem of precise control of the angular velocity of the robot at different speeds
Method used
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[0057] In order to make the above objects, features and advantages of the present invention more comprehensible, the specific implementation manners of the present invention will be described in detail below in conjunction with the accompanying drawings.
[0058] Such as figure 1 Shown is a schematic flowchart of steps when multiple instructions stored in the storage device in the embodiment of the present invention are loaded and executed by the processor. refer to figure 1 , the step process includes:
[0059] Step S1: Acquire the target position of the command track at time k according to the communication cycle, and take the target position as the origin, and establish a kinematics coordinate system in the plane coordinate system with the heading of the command track being the X-axis direction;
[0060] Step S2: Take the command trajectory speed at time k as the feed-forward speed, and the distance between the robot position at time k-1 and the target position of the com...
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The invention discloses storage equipment and a robot. The technical scheme is characterized by establishing a kinematic coordinate system in a planar coordinate system; with instruction trajectory velocity at the k moment being feedforward speed, and distance between the robot position at the k-1 moment and the original point of the kinematic coordinate system in the instruction trajectory direction being position deviation amount, and by means of a PID controller, improving position control precision and reducing instruction trajectory tracking time lag; introducing a curvature circle model; according to the distance deviated by a robot from a curvature circle at the k-1 moment, the control linear velocity of the robot at the k-1 moment and through the PID controller, obtaining an angular velocity component of the robot at the k-1 moment; and adjusting control angular velocity at the k-1 moment based on the angular velocity component of the robot at the k-1 moment to obtain precise control angular velocity, thereby solving the problem that linear velocity and angular velocity are not matched.
Description
technical field [0001] The invention relates to the technical field of navigation control, in particular to a storage device and a robot. Background technique [0002] "Journal of Agricultural Machinery" (No. 04, 2012) published a document titled "Orchard Mobile Robot Curved Path Navigation Control", which disclosed a method of using laser scanning to obtain fruit tree position information, and proposed an orchard environment. The fitting algorithm of the lower curve navigation path constructs a fuzzy controller with lateral deviation and heading deviation as input, and realizes the automatic walking of the mobile robot in the curved path. The robot walks along a sinusoidal curve at a speed of 0.54m / s, with a maximum lateral deviation of 0.40m and an average deviation of 0.12m. The test results show that the path fitting and navigation control algorithms of the system have good performance. [0003] The implementation process of the technical solution is as follows: [00...
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IPC IPC(8): G05B11/42G05D27/02
CPCG05B11/42G05D27/02
Inventor 韩勇万海兵
Owner 上海吉导机器人有限公司