A Method for Robot Trajectory Tracking

Abstract

The invention relates to a robot trajectory tracking method. The robot trajectory tracking method includes: using a discrete motion trajectory of a robot as a tracking trajectory; calculating a robotpose error in a robot coordinate system according to the tracking trajectory; calculating the tracking speed according to the control law designed by the invention; estimating a global pose of the robot at the next moment according to the tracking speed; calculating an error between the estimated global pose and a target pose; calculating an error evaluation value according to an evaluation function; and finding the speed having the lowest evaluation value as the actual tracking speed at the current time. The invention constructs the control law based on the Lyapunov function, and can simultaneously track the position and posture of the robot. At the same time, the invention improves the tracking dynamic performance by introducing dynamic window to determine parameters, and the tracking curve is more suitable and smoother.

Description

technical field [0001] The invention belongs to the technical field of robot navigation and control, and in particular relates to a robot trajectory tracking method. Background technique [0002] The robot always produces errors in the actual motion control process, or the robot deviates from the set position or posture to a certain extent due to other reasons. How to issue speed instructions so that the robot can track a given path or trajectory well is one of the important issues that need to be considered when solving errors. Tracking control includes path tracking and trajectory tracking. The target of the former is mainly expressed by the geometric path, while the latter is expressed by the time function of each state. Compared with the path expression, the trajectory function not only contains the path information, but also implies the speed information of the target robot. The content of the trajectory tracking problem is richer and more difficult than the path track...

AI Technical Summary

Problems solved by technology

Most of the traditional tracking control algorithms can only track the position or attitude alone, and it is difficult to track the position and attitude of the robot at the same time.

In addition, the stability and dynamic performance of traditional tracking control algorithms are not ideal, and cannot meet the higher requirements of tracking control.

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