An outdoor mobile robot guidance method and guidance system

A mobile robot and robot technology, applied in the field of unmanned systems, can solve the problems of waste of space, excessive dependence on heading angle accuracy, and inability to correct the lateral deviation of the target trajectory, and achieve the effect of correcting the angle error and correcting the lateral deviation.

Active Publication Date: 2021-02-09
BEIJING AEROSPACE AUTOMATIC CONTROL RES INST +1
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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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  • An outdoor mobile robot guidance method and guidance system
  • An outdoor mobile robot guidance method and guidance system
  • An outdoor mobile robot guidance method and guidance system

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Embodiment Construction

[0056] Specific embodiments of the present invention will be further described in detail below in conjunction with the accompanying drawings.

[0057] The guidance system of the present invention is composed of an electronic map, a path planning system, a deviation calculation unit, and a differential satellite / inertial combined navigation system, such as figure 1 shown. The electronic map includes a number of longitude and latitude coordinate sets within the moving range obtained by surveying and mapping and the connectivity between the coordinates. The path planning system generates a planned path based on the electronic map, the latitude and longitude calculated by the guidance system, and the latitude and longitude of the target point. The path is composed of a sequence of coordinate points, and the sequence of coordinate points is sent to the deviation calculation unit in sequence. The deviation calculation unit generates multiple guide lines according to the planned co...

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Abstract

An outdoor mobile robot guidance method and guidance system, including (1) calculating the current longitude, latitude, and heading angle of the robot; (2) judging whether the robot has received the path planning result, that is, the target guidance path coordinate point set; 3) Update the guide route to obtain the guide line function; (4) Calculate the lateral deviation Δd and angle deviation Δθ according to the longitude, latitude, heading angle and guide line function; (5) Input Δd and Δθ as feedback observations into the digital PID The controller obtains the control quantity, and as the input quantity of the servo motor, drives the mobile robot to move according to the guiding route; (6) updates and calculates the current longitude, latitude, and heading angle of the robot; (7) judges whether the robot moves to the middle point; (8) ) to judge whether it has reached the final target point, and if it reaches the final target point, it will end and complete the robot guidance. The invention can correct the angle error and the transverse deviation at the same time, and can not only adapt to wide roads and sites, but also adapt 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...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/20G01C21/16G01S19/47
Inventor 吴平刘秀娟刘刚军牛志朝崔孟楠王禺雄郭丰睿刘浩武欣窦志红赵炳英郑剑王浩
Owner BEIJING AEROSPACE AUTOMATIC CONTROL RES INST
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