Staged wheel type robot moving path planning method

Abstract

The invention discloses a staged wheel type robot moving path planning method. The process that a wheel type robot is converted from a known initial full state to a known target full state is dividedinto three stages, and planning control is carried out. In the speed suppressing state, when the current speed direction of the wheel type robot is inconsistent with the current target position direction, the speed is suppressed, and the direction is adjusted, so that the wheel type robot moves in the target direction as soon as possible. In the straight line section stage, the straight line pathis tangent to a small arc path so that the wheel type robot can get close to a target tangent point as straight as possible, and meanwhile the reaching speed and the reaching posture are controlled. In the small arc section state, the radius of an arc path is limited by using the maximum centrifugal acceleration, so that the wheel type robot gets close to a target along the arc path cuts into thetarget at a desired angle. According to the method, the full-state change of the wheel type robot can be achieved, the requirement of the surrounding environment for space size is avoided, and the universality and stability are high.

Description

technical field [0001] The invention belongs to the technical field of robot motion control, and in particular relates to a staged method for planning a moving path of a wheeled robot. Background technique [0002] With the continuous development of industrial automation, wheeled robots such as smart cars and mobile robots are more and more widely used in daily life. Guiding the movement of moving subjects is not only the movement of position, but also the movement of posture and speed. Change. Efficient and stable mobile methods are the basis for subsequent upper-level work. How to complete the mobile process conveniently and smoothly has always been a topic of contention. [0003] In order to solve the problem that the final velocity direction is inconsistent with the initial and final position vector directions during the initial and final full state changes, it is usually completed through a large circular arc path from the starting point to the target point that is tan...

AI Technical Summary

Problems solved by technology

[0005] Second, component control delays in the mobile system can cause deviations in the travel path

For example, when the wheeled robot itself has a large speed, it takes time to set the wheeled robot to turn and reach the set value from the initial position, and the path will have a large deviation during this process. If it is not handled well, when the deviation is large, it may lead to failure to reach the preset target state, and even the wheeled robot is out of control

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