Mobile robot speed smooth interpolation method

A mobile robot and interpolation method technology, applied in the field of mobile robots, can solve problems such as car body shaking, achieve the effects of avoiding violent start and stop, flexible use, and improved motion performance

Active Publication Date: 2018-09-21
JIANGNAN UNIV
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  • Summary
  • Abstract
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

For low-inertia mobile robots, the speed can basically reach the target speed in an instant, and the vehicle body shakes due to violent start and stop; however, for some mobile robots with manipulators or large inertia, the above phenomenon is very dangerous, so appropriate measures need to be taken. Measures to avoid violent start and stop

Method used

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  • Mobile robot speed smooth interpolation method
  • Mobile robot speed smooth interpolation method
  • Mobile robot speed smooth interpolation method

Examples

Experimental program
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Effect test

Embodiment 1

[0041] In this embodiment, in order to overcome the need to judge the acceleration and deceleration process by calculating the number of motor pulses in the existing curve speed control method, and for the mobile robot, since the transmission of the control speed is based on the center coordinate system of the car body, there is no device that can provide The problem with the number of pulses mentioned above. Therefore, a method for smooth interpolation of mobile robot speed is proposed, specifically, the method includes the following steps,

[0042] (1) Establish an interpolation function model;

[0043] (2) Optimizing the interpolation function model to obtain the speed control curve model;

[0044] (3) combining the optimized speed control curve model with the current state of the mobile robot to obtain the required control quantity model of the motor;

[0045] (4) Calculate the interpolation amount that can be selected in advance according to the control frequency of diffe...

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Abstract

The invention discloses a mobile robot speed smooth interpolation method which comprises a step of establishing an interpolation function model, a step of optimizing the interpolation function model to obtain a speed control curve model, a step of combining the optimized speed control curve model and the current state of a mobile robot to obtain a control quantity model required by a motor, and astep of calculating an interpolation amount that can be selected in advance according to the control frequencies of different mobile platforms. The method has the advantages of (1) flexible use and the flexible selection of interpolation points according to the different platforms to calculate control amount, (2) the effective improvement of the motion performance of the mobile robot in a manual operation mode and the avoidance of danger caused by the rapid start and stop, and (3) a more obvious the interpolation effect for the mobile robot with a high running speed.

Description

technical field [0001] The invention relates to the technical field of mobile robots, in particular to a smooth interpolation method for the speed of a mobile robot. Background technique [0002] The control system of existing mobile robots is generally divided into two parts, the upper computer responsible for data calculation and the lower computer responsible for wheel speed control. The upper computer sends the control speed to the lower computer through kinematic calculation, and the lower computer reads the device status data from time to time. , converted into a digital signal and fed back to the host computer. The movement mode of mobile robots usually includes two modes: autonomous navigation and manual operation; during autonomous navigation, the control speed is calculated and sent by the host computer; manual operation is to artificially control the movement of mobile robots in order to meet some special circumstances. When operating manually, it is usually nece...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 平雪良高文研刘潇潇王昕煜蒋毅
Owner JIANGNAN UNIV
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