Wheel type mobile robot trajectory tracking method based on disturbance observer

A technology of mobile robots and disturbance observers, applied in the directions of instruments, non-electric variable control, two-dimensional position/course control, etc.

Active Publication Date: 2019-04-09
SOUTHEAST UNIV
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  • Application Information

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Problems solved by technology

[0005] The object of the present invention is to provide a track tracking method for a wheeled mobile robot based on a disturbance observer, which solves the problem of how to track the track when the wheeled mobile robot has slipping and external interference, so that the robot can realize track tracking control

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  • Wheel type mobile robot trajectory tracking method based on disturbance observer
  • Wheel type mobile robot trajectory tracking method based on disturbance observer
  • Wheel type mobile robot trajectory tracking method based on disturbance observer

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Embodiment Construction

[0020] The technical solutions and beneficial effects of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0021] Such as Figure 8 As shown, the present invention provides a method for track tracking of a wheeled mobile robot based on a disturbance observer, comprising the following steps:

[0022] Step 1, analyze the actuator of the wheeled mobile robot, and establish the kinematics model and dynamics model of the wheeled mobile robot with non-integrity constraints;

[0023] Among them, the kinematics model of the wheeled mobile robot is expressed as:

[0024]

[0025] where, q=[x,y,θ] T Represents the pose, v, w represent the linear velocity and angular velocity of the wheeled mobile robot, respectively.

[0026] The desired trajectory of a wheeled mobile robot is:

[0027]

[0028] Among them, q r =[x r ,y r ,θ r ] T represents the desired pose, (v r ,w r ) is the expected linear velocity and angular v...

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Abstract

The invention discloses a wheel type mobile robot trajectory tracking method based on a disturbance observer. The slip degree is introduced in the design of a kinematics controller; the difference between an actual pose and an expected pose is expressed; if a wheel type mobile robot can be stabilized in a limited time, namely, an actual movement trajectory and an expected movement trajectory can be coincided in the limited time, based on this, a kinematics linear velocity controller and an angular velocity controller are designed; in the design of a dynamics torque controller, firstly, lumpeddisturbance is introduced, the observer is designed for estimation, and based on this, the dynamics torque controller is designed; and the stability is proved by a Lyapunov function. According to themethod, the problem of how to track the trajectory in the presence of slip, external interference and the like of the wheel type mobile robot can be solved, so that the robot can be subjected to trajectory tracking control.

Description

technical field [0001] The invention belongs to the field of track tracking control of mobile robots, in particular to a track tracking control method of a wheeled mobile robot based on a disturbance observer. Background technique [0002] In recent years, robot technology has achieved rapid development and has attracted more and more attention from people. Since the last century, robots have been widely used in various fields, bringing a lot of convenience to people's lives. The robot itself integrates a lot of high-tech technologies, and is widely used in various dangerous environments such as geographical survey, mine clearance and rescue, and can complete many jobs that humans cannot do. This is also an important symbol of the progress of human society. At the same time, in the field of industrial production, robots help people improve production efficiency, reduce production costs, and promote social progress. [0003] Wheeled mobile robot is one of the most important ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04G05D1/02
CPCG05B13/042G05D1/0223
Inventor 翟军勇王帅
Owner SOUTHEAST UNIV
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