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

Active Publication Date: 2019-07-09
TSINGHUA UNIV
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Problems solved by technology

The literature "Range-only measurements based target following for wheeled mobile robots" designed a sliding mode control based mobile target tracking method, the control output of this method is switched between the maximum value and the minimum value, which will bring come to the "chattering" problem, and the method has a steady-state error when tracking a static target around
In addition, the method needs to constrain the starting state of the mobile robot

Method used

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

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Embodiment Construction

[0037] A method for surrounding tracking of a moving target based on distance measurement proposed by the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0038] The present invention proposes a method for tracking moving objects based on distance measurement. First, the dynamic model of the mobile robot is established in the plane coordinate system, and then the polar coordinate system is established with the target to be tracked as the center of the circle, and the dynamic model of the mobile robot is established. Transform from plane coordinates to polar coordinates, and finally design control variables based on distance measurement to control mobile robots to achieve orbital tracking of moving targets. The method proposed by the invention can realize the surrounding tracking of the moving target by only using the distance measurement as the feedback variable, without limiting the initial st...

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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.

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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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/12
CPCG05D1/12
Inventor 游科友董斐宋士吉
Owner TSINGHUA UNIV
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