A stage-by-stage mobile path planning method for wheeled robots

Abstract

The invention discloses a step-by-step mobile path planning method for a wheeled robot, which divides the process of the wheeled robot from a known initial full state to a known target full state into three stages for planning control, In the speed suppression stage, when the current speed direction of the wheeled robot is inconsistent with the current target position direction, the speed is suppressed and the direction is adjusted to move towards the target direction as soon as possible; The straight line approaches the target tangent point, while controlling the arrival speed and attitude; in the small arc segment stage, the maximum centrifugal acceleration is used to limit the radius of the arc path, so that the wheeled robot approaches the target along the arc path and at a desired angle Cut to target. The invention not only can realize the change of the whole state of the wheeled robot, but also has no requirement on the size of the surrounding environment, and has strong universality and stability.

Description

Technical field[0001]The invention belongs to the technical field of robot motion control, and in particular relates to a phased method for planning the movement path of a wheeled robot.Background technique[0002]With the continuous development of industrial automation, wheeled robots such as smart cars and mobile robots have become more and more widely used in daily life. The movement of guiding the movement of the main body is not only the movement of position, but also the attitude and speed. change. Efficient and stable movement is the foundation of subsequent upper-level work. How to complete the movement process conveniently and smoothly has always been a topic of scrutiny.[0003]In order to solve the problem of inconsistency between the initial and final state changes, the final velocity direction is inconsistent with the initial and final position vector directions, usually through a large arc path from the starting point to the target point and tangent to the initial and fina...

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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