Visual servo tracking prediction control method for mobile robot
A mobile robot, predictive control technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve problems such as visual servo predictive tracking control of mobile robots that cannot be solved, and achieve visual servo predictive tracking control problems, easy to solve and optimize. effect of the problem
Active Publication Date: 2018-11-20
ZHEJIANG UNIV OF TECH
View PDF7 Cites 16 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
[0005] In order to overcome the deficiency that the prior art cannot solve the problem of mobile robot visual servo predictive tracking control, the present invention provides a mobile robot visual servo predictive tracking control method, by modeling the problem as a tracking error model with uncertain parameters, Based on the model, the prediction index is given, and the solution method of the predictive feedback controller is provided
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 moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0055] The present invention will be further described below in conjunction with the accompanying drawings.
[0056] refer to figure 1 , a mobile robot visual servo predictive tracking control method, comprising the following steps:
[0057] 1) Establish a vision-based mobile robot model, define x and y as the normalized horizontal and vertical coordinates of the camera, and z c is the z-axis coordinate of the camera, and the velocity vector of the camera in the camera coordinate system is v c and ω c are the z-axis velocity and the x-z plane angular velocity of the mobile robot, respectively, and the velocity vector of the robot in its own coordinate system is v r and ω r are the reference z-axis velocity and x-z plane angular velocity of the mobile robot respectively, then the vision-based kinematics model of the mobile robot is:
[0058]
[0059] 2) Establish a vision-based mobile robot tracking error model, define ρ 1 and ρ 2 Represents the real-time position...
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
Login to View More Abstract
The invention provides a visual servo tracking prediction control method for a mobile robot. The visual servo tracking prediction control method comprises the following steps of 1) taking the input constraint into consideration, and building the visual servo tracking control problem of the mobile robot into a tracking error state space model with an uncertain parameter; 2) designing a prediction performance index function; 3) designing a visual servo tracking controller based on a prediction control algorithm; 4) defining input constraints; and 5) designing a servo tracking prediction controller. The visual servo tracking prediction control method can effectively solve the problem of input constraint.
Description
technical field [0001] The invention relates to a vision-based servo tracking control system for a mobile robot, in particular to a visual servo predictive control method for a mobile robot with input limitations. Background technique [0002] With the development of science and technology and control technology, computer vision has been widely used in various fields. The rich information of visual data and rich processing methods make the control of mobile robots based on vision widely used in scientific research, military, industry and logistics. and other fields. Path tracking, as one of the fundamental problems in the motion control of mobile robots, has attracted extensive attention. Therefore, the research on the vision-based servo tracking control technology of mobile robots can not only enrich the theoretical achievements of mobile robot motion control, but also meet the increasingly high requirements for motion control technology in many fields, which has great the...
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
Login to View More Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/16B25J9/1697
Inventor 俞立陈旭吴锦辉刘安东仇翔
Owner ZHEJIANG UNIV OF TECH