Outdoor mobile robot guiding method and system

Abstract

The invention relates to an outdoor mobile robot guiding method and system. The method comprises steps that (1), the current longitude, the latitude and a heading angle of a robot are calculated; (2),whether the robot receives the path planning result is determined, that is, a target guiding path coordinate point set; (3), a guiding route is updated to obtain a guiding straight line function; (4), lateral deviation deltad and angular deviation deltatheta are calculated according to the longitude, the latitude, the heading angle and the guiding straight line function; (5), the deltad and the deltatheta are taken as feedback observations inputted into a digital PID controller to obtain the control quantity which is taken as the input quantity of a servo motor, and the mobile robot is drivento move according to a guiding route; (6), the current longitude, the latitude and the heading angle of the computing robot are updated; (7), whether the robot moves to an intermediate point is determined; (8), whether the robot reaches a final target point is determined, if yes, the process ends, and robot guiding is completed. The method is advantaged in that the angular error can be corrected,lateral deviation can be corrected, and the method not only adapts to wide roads and sites, but also adapts to narrow roads and environments.

Description

technical field [0001] The invention relates to a guiding method for an outdoor mobile robot, which belongs to the field of unmanned systems. Background technique [0002] As the concepts of "Industry 4.0" and "Made in China 2025" have been proposed, mobile robot technology has been fully developed. In recent years, mobile robots have been widely used in logistics handling, sorting, unmanned parking, security patrol, service and other fields. Guidance technology, as one of the most important technologies of mobile robot control system, is related to the safety, reliability and efficiency of mobile robot operation. At present, relevant scholars at home and abroad mainly use vision, magnetic induction, laser, inertia, wireless positioning, satellite navigation, laser radar and other methods to guide mobile robots. [0003] In "Monocular Vision Positioning of Smart Vehicles Based on Road Structural Features" published by Yu Yufeng in the Chinese Journal of Automation, the mon...

AI Technical Summary

Problems solved by technology

This method is easy to implement and can ensure that the forward direction of the carrier is always towards the target point to achieve the purpose of guidance control, but it is overly dependent on the accuracy of the heading angle, and can only correct the angular deviation, not the lateral deviation from the target trajectory. Causes waste of space required for carrier movement

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