Four-wheel-drive robot automatic steering method based on extended Ackerman algorithm

An automatic steering and robot technology, which is applied in the direction of automatic steering control components, electric steering mechanisms, steering mechanisms, etc., can solve the problems of inability to rotate around the same center, low robot adaptability, and large deviation from the center of the circle. Mann steering, high economic and social benefits, and the effect of movement coordination and stability

Inactive Publication Date: 2019-02-22
HEFEI INSTITUTES OF PHYSICAL SCIENCE - CHINESE ACAD OF SCI
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Problems solved by technology

Therefore, in practical problems, there is slippage when turning and cannot rotate around the same center, which makes the platform movement uncoordinated, the robot's ability to adapt to the field is low, the turning radius is large, the center of the circle deviates greatly, and it is easy to deviate from the predetermined route.

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  • Four-wheel-drive robot automatic steering method based on extended Ackerman algorithm
  • Four-wheel-drive robot automatic steering method based on extended Ackerman algorithm
  • Four-wheel-drive robot automatic steering method based on extended Ackerman algorithm

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Embodiment Construction

[0019] In this embodiment, an automatic steering method for a four-wheel drive robot based on the extended Ackerman algorithm is applied to a machine motion platform system that integrates a power system and a control system. The power system mainly uses four independently driven hub motors, two Connect the steering motor of the gear steering mechanism; the control system includes the upper control system of the industrial computer, the bottom driver control system, RS-485 serial communication and remote control / automatic control mode to coordinate its motion control.

[0020] The basic requirement for the four-wheel drive robot to successfully complete the steering is that the wheels do pure rolling. In order to meet this requirement, when the four-wheel drive robot is turning, the axis lines of each wheel should pass through the same instantaneous center axis. This axis is perpendicular to the ground, and its projection point is as follows: figure 1 Point G in the middle, wh...

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Abstract

The invention discloses a four-wheel-drive robot automatic steering method based on an extended Ackerman algorithm. The four-wheel-drive robot automatic steering method based on the extended Ackermanalgorithm comprises the steps of firstly, collecting a steering angle of a current internal wheel set in real time and obtaining a steering angle of an external wheel set according to a constraint relation between the internal and external steering angles after a steering motor drives an internal wheel set to steer; secondly, obtaining an updated instant circle center according to the steering angles of the internal and external wheel sets; and thirdly, obtaining turning speeds of the internal and external wheel sets according to the updated instant circle center and a constraint relation between internal and external wheel speeds so as to realize automatic steering of a four-wheel-drive robot. According to the four-wheel-drive robot automatic steering method based on the extended Ackermanalgorithm, an agricultural four-wheel-drive robot can realize small turning radius, small deviation degree of the distance of circle centers, high power and compact structure during running, and therefore, the motion is more coordinated and stable, and the adaptability to the outside environment is enhanced.

Description

technical field [0001] The invention relates to the technical field of robot intelligence, in particular to an automatic steering method for a four-wheel drive robot based on an extended Ackerman algorithm. Background technique [0002] At present, the emergence of four-wheel drive robot mobile platform has reduced the labor force in the industrial field, improved work efficiency, and brought great convenience to people. However, in the actual environment, the robot has relatively weak environmental adaptability, and the robot itself has a large body structure. On the mobile platform of the four-wheel drive robot, the characteristics of the four-wheel drive Ackermann motion model are: 1. Each wheel only rolls and does not slide; 2. Each wheel rotates around the same center point. Therefore, in practical problems, there is slippage when turning and cannot rotate around the same center, which makes the platform movement uncoordinated, the robot's field adaptability is low, th...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D5/04B62D6/00
Inventor 杨青丰冯宝林李露徐林森施云高孙鹏张攀峰高磊徐潺潺
Owner HEFEI INSTITUTES OF PHYSICAL SCIENCE - CHINESE ACAD OF SCI
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