Surrounding tracking method for moving target on the basis of distance measurement

A moving target and distance technology, applied in the field of robot target tracking, can solve problems such as steady-state error and chattering, and achieve the effect of wide application range, simple design and high stability
CN109992009AActive Publication Date: 2019-07-09TSINGHUA UNIV
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
TSINGHUA UNIV
Publication Date
2019-07-09

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Abstract

The invention puts forward a surrounding tracking method for a moving target on the basis of distance measurement, and belongs to the field of robot target tracking. The method comprises the followingsteps that: firstly, under a plane coordinate system, establishing the kinetic model of a mobile robot; then, taking a target to be tracked as a center of a circle to establish a polar coordinate system, and transforming the kinetic model of the mobile robot to be under the polar coordinate system from the plane coordinate; and finally, on the basis of distance measurement, designing a controlledquantity, and controlling the mobile robot to realize the surrounding tracking of the moving target. By use of the method disclosed by the invention, only distance measurement is required to serve asa feedback variable so as to be simple in design, the global stability of a control method can be guaranteed under a situation that the initial state of the mobile robot is not restricted, and in addition, the design of the control parameter does not depend on the initial position of the mobile robot. By use of the method disclosed by the invention, the moving target can be effectively tracked, reliability is high, and the method is suitable for engineering application.
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Description

technical field

[0001] The invention relates to a method for surrounding and tracking a moving target based on distance measurement, which belongs to the field of robot target tracking. Background technique

[0002] With the rapid development of mobile robot technology, target tracking through mobile robots has been widely used in military and civilian fields, such as border patrol, transportation escort and disaster relief protection.

[0003] Surrounding tracking is a special tracking method: the mobile robot needs to keep the distance from the target constant during the tracking process. For a fixed target, the expected trajectory of the robot is a circle with the target as the center and the specified distance as the radius.

[0004] When using a mobile robot for target tracking, ideally, the state of the mobile robot and the target to be tracked can be obtained. At this time, the guidance instruction can be designed by the Lyapunov guidance vector method or the geomet...

Claims

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