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An Error Model Predictive Control Method Based on Kinematics Modeling of Omnidirectional Mobile Robot

A technology of robot kinematics and kinematics model, applied in non-electric variable control, position/direction control, two-dimensional position/channel control, etc., can solve the problems of reducing system control performance and stability, and achieve strong carrying capacity , good stability

Active Publication Date: 2022-03-25
SOUTH CHINA UNIV OF TECH
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  • Abstract
  • Description
  • Claims
  • 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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  • An Error Model Predictive Control Method Based on Kinematics Modeling of Omnidirectional Mobile Robot
  • An Error Model Predictive Control Method Based on Kinematics Modeling of Omnidirectional Mobile Robot
  • An Error Model Predictive Control Method Based on Kinematics Modeling of Omnidirectional Mobile Robot

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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 about the wheel axis, rotation about 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. Therefore, when the motor drives the wheel to rotate, the wheel will advance in a direction perpendicular to the drive shaft, while the rollers surrounding the wheel will advance along their respective axes.

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

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

[0133] S12, establish a tracking error kinematic model ...

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Abstract

The invention discloses an error model predictive control method based on kinematics modeling of an omnidirectional mobile robot. The method includes the following steps: S11. Establishing a speed-constrained kinematics model between four FM-OMR mecanum wheels; S12, set up the tracking error kinematics model of FM-OMR; S13, for the trajectory tracking problem of FM-OMR, aim at the tracking error kinematics model, design the error model predictive controller in conjunction with velocity constraint equation; S14, according to described error model The predictive controller controls the effective trajectory tracking parameters between omnidirectional mobile robots, so that the tracking error between omnidirectional mobile robots remains constant. The present invention proposes an error model predictive control method based on trajectory tracking error kinematics modeling for an omnidirectional mobile robot with four mecanum wheels, which solves the non-holonomic constraint problem of effective trajectory tracking control, accuracy and effectiveness .

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 the kinematic modeling of omnidirectional mobile robots based on trajectory tracking errors. 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 collaboration such as multi-robot formation and multi-robot trajectory planning. In recent years, the 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 their reduced flexibility and maneuverability. [0003] Compared with traditional differentially dri...

Claims

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Application Information

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Patent Type & Authority Patents(China)
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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