Movement control method and device of mobile robot

A mobile robot and motion control technology, applied in non-electric variable control, two-dimensional position/lane control, transportation and packaging, etc., can solve the problems of poor tracking control accuracy, mobile robot off-path, etc., and achieve high walking accuracy , High control precision, the effect of high control precision

Active Publication Date: 2019-04-02
深兰机器人产业发展(河南)有限公司
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Problems solved by technology

[0004] However, the inventors of the present invention have found that both the method of combining the control algorithm with manual control and the method of combining the control algorithm with fixed path features are limited to paths with fixed curvature (such as broken lines or straight-line-arc combination curves). The tracking control accuracy of the path with non-fixed curvature is poor, and it is easy to cause the mobile robot to deviate from the path

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  • Movement control method and device of mobile robot
  • Movement control method and device of mobile robot
  • Movement control method and device of mobile robot

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Embodiment Construction

[0031] In order to make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the various embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, those of ordinary skill in the art can appreciate that, in the various embodiments of the present invention, many technical details are set forth for the reader to better understand the present invention. However, even without these technical details and various changes and modifications based on the following embodiments, the technical solutions claimed in the present invention can be realized.

[0032] see figure 1 , the core of the embodiment of the present invention lies in: step S101 : acquiring the motion path of the mobile robot. Step S102: Divide the motion path into a plurality of motion points. Step S103: Calculate the curvature of the motion path at each of the motion points. Step S104: Control the mobi...

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Abstract

The embodiment of the invention relates to the field of movement control, and discloses a movement control method and a device of a mobile robot. The movement control method of the mobile robot comprises the following steps of: obtaining a motion path of the mobile robot; splitting the motion path into a plurality of motion points; calculating a curvature of the motion path at each of the motion points; and controlling the mobile robot to move towards to a next movement point according to the curvature at the movement point where the mobile robot is currently located until the mobile robot reaches the end point of the motion path. The movement control method and the device of the mobile robot have the advantage of improving the control precision of the mobile robot when the mobile robot moves along the movement path of a non-stationary curvature.

Description

technical field [0001] Embodiments of the present invention relate to the field of motion control, and in particular, to a method and device for motion control of a mobile robot. Background technique [0002] A mobile robot is an intelligent device that autonomously controls movement and performs work automatically. It can move on the ground or other surfaces. It can not only accept the command of the user, but also run pre-programmed programs, or according to artificial intelligence technology. Formulated principles and programmes of action. With the advancement of science and technology, mobile robots have applications in fields such as production, military, and services, especially in the field of home services, such as cleaning robots such as vacuuming, sweeping, mopping, and glass cleaning, as well as Mowing robots that cut grass, etc. [0003] In order to ensure the safety and work efficiency of the mobile robot movement, the mobile robot usually follows a preset pat...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0212G05D1/0223G05D2201/0217
Inventor 陈海波
Owner 深兰机器人产业发展(河南)有限公司
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