Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

A Smooth Interpolation Method for Mobile Robot Velocity

A mobile robot and interpolation method technology, applied in the field of mobile robots, can solve problems such as vehicle body jitter, avoid violent start and stop, improve motion performance, and have obvious interpolation effects.

Active Publication Date: 2021-03-26
JIANGNAN UNIV
View PDF13 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • 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

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • A Smooth Interpolation Method for Mobile Robot Velocity
  • A Smooth Interpolation Method for Mobile Robot Velocity
  • A Smooth Interpolation Method for Mobile Robot Velocity

Examples

Experimental program
Comparison scheme
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...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

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

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Patents(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
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com