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Error model predictive control method based on kinematics modeling of omnidirectional mobile robots

A technology of robot kinematics and kinematics model, applied in non-electric variable control, position/direction control, two-dimensional position/channel control and other directions, can solve problems such as reducing system control performance and stability

Active Publication Date: 2019-06-14
SOUTH CHINA UNIV OF TECH
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  • Application Information

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Problems solved by technology

For nonholonomic constrained systems, rigid constraints may reduce the control performance and stability of the system

Method used

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  • Error model predictive control method based on kinematics modeling of omnidirectional mobile robots
  • Error model predictive control method based on kinematics modeling of omnidirectional mobile robots
  • Error model predictive control method based on kinematics modeling of omnidirectional mobile robots

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Embodiment

[0130] The Mecanum Wheel is an omnidirectional steering wheel with superior performance and wide application, which consists of small rollers evenly distributed around the central hub. The mecanum wheel has three degrees of freedom, namely rotation around the wheel axis, rotation around the roller axis, and rolling between the wheel and the ground. The rotation of the wheels is driven by electric motors, while the rollers are driven by friction on the ground. So when the motor drives the wheel to spin, the wheel will advance in a direction perpendicular to the drive shaft, and the rollers surrounding the wheel will advance along their respective axes.

[0131] An error model predictive control method based on kinematics modeling of an omnidirectional mobile robot, said method comprising the following steps:

[0132] S11. Establish a velocity-constrained kinematics model between the four Mecanum wheels of FM-OMR;

[0133] S12. Establishing a tracking error kinematics model of...

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Abstract

The invention discloses an error model predictive control method based on kinematics modeling of omnidirectional mobile robots. The error model predictive control method comprises the following stepsthat S11, a velocity constraint kinematics model is established between FM-OMR four Mecanum wheels; S12, a tracking error kinematics model of a FM-OMR is established; S13, aiming at the trajectory tracking problem of the FM-OMR and the tracking error kinematics model, an error model predictive controller combined with a velocity constraint equation is designed; and S14, according to the error model predictive controller, effective trajectory tracking parameters between the omnidirectional mobile robots are controlled so as to enable tracking errors between the omnidirectional mobile robots toremain unchanged. According to the error model predictive control method based on the kinematics modeling of the omnidirectional mobile robots, the error model predictive control method based on the trajectory tracking error kinematics modeling is provided aiming at the omnidirectional mobile robots with the four Mecanum wheels, the non-holonomic constraint problem of the effective trajectory tracking control is solved, and the accuracy and the validity are realized.

Description

technical field [0001] The invention relates to the fields of omnidirectional mobile robots, trajectory tracking, error model predictive control and the like, in particular to an error model predictive control method based on trajectory tracking error omnidirectional mobile robot kinematics modeling. Background technique [0002] Trajectory tracking control is to solve the problem of how to converge the actual position and orientation of the mobile robot to the desired reference trajectory. This field has broad application prospects in multi-agent cooperation such as multi-robot formation and multi-robot trajectory planning. In recent years, research on trajectory tracking control of wheeled mobile robots has gradually increased. Ordinary wheeled differential drive mobile robots have only two degrees of freedom, and the narrow environment will lead to a decrease in their flexibility and maneuverability. [0003] Compared with conventional differential drive robots, omnidir...

Claims

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Application Information

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IPC IPC(8): G05D1/02G05D1/00
Inventor 黄林青魏武王栋梁孙金权周方华罗永恒
Owner SOUTH CHINA UNIV OF TECH
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