Motion control method and device for 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: 2019-07-05
深兰机器人产业发展(河南)有限公司
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[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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[0031] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention more clear, various implementation modes of the present invention will be described in detail below in conjunction with the accompanying drawings. However, those of ordinary skill in the art can understand that in each implementation manner of the present invention, many technical details are proposed in order to enable readers to better understand the present invention. However, even without these technical details and various changes and modifications based on the following implementation modes, the technical solution claimed in the present invention can also be realized.
[0032] see figure 1 , the core of the embodiment of the present invention lies in: Step S101: Obtain the motion path of the mobile robot. Step S102: Split the motion path into multiple motion points. Step S103: Calculate the curvature of the motion path at each of the motion points. Step ...
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Embodiments of the present invention relate to the field of motion control, and disclose a motion control method and device for a mobile robot. The motion control method of the mobile robot includes: obtaining the motion path of the mobile robot; splitting the motion path into Multiple motion points; calculate the curvature of the motion path at each of the motion points; control the mobile robot to move to the next motion point according to the curvature at the motion point where the mobile robot is currently located until the The mobile robot reaches the end point of the motion path. The motion control method and device for a mobile robot provided by embodiments of the present invention have the advantage of improving the control accuracy when the mobile robot moves along a moving path with non-fixed curvature.
Description
technical field [0001] Embodiments of the present invention relate to the field of motion control, 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. Formulate a principled program of action. With the advancement of science and technology, mobile robots are used in fields such as production, military, and services, especially in the field of household services, such as cleaning robots such as vacuuming, sweeping, mopping, and glass cleaning. Lawn mowing robots, etc. [0003] In order to ensure the safety and work efficiency of the mobile robot movement, the mobile robot usually follows a pre-set path for movement. The methods for realizing path tracking in the prior art mainly include control algorithms combined with manual control strategies and control algorithms com...
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IPC IPC(8): G05D1/02
CPCG05D1/0212G05D1/0223
Inventor 陈海波
Owner 深兰机器人产业发展(河南)有限公司