Heuristic dynamic planning control method of mobile robot tracking desired trajectory

A technology for mobile robots and predetermined trajectories, which is applied in the field of mobile robots and can solve problems affecting control effects

Active Publication Date: 2019-09-17
ANHUI AGRICULTURAL UNIVERSITY
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

But fuzzy control still needs to abstract expert experience into fuzzy control rules and adjust fuzzy control parameters
The neural ne

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  • Heuristic dynamic planning control method of mobile robot tracking desired trajectory
  • Heuristic dynamic planning control method of mobile robot tracking desired trajectory
  • Heuristic dynamic planning control method of mobile robot tracking desired trajectory

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Embodiment Construction

[0080] This embodiment takes a crawler robot platform in a laboratory as an example to specifically illustrate how to use the method of the present invention to realize tracking of a predetermined trajectory and its functional effects.

[0081] The crawler robot platform used in this embodiment has a length of 0.8m, a width of 0.57m, a weight of 44kg, a track center distance B of 0.485m, and a driving wheel radius r of 0.2m. It is powered by a 48V20Ah lithium battery, and the power of the motors on both sides is 400w. Equipped with a GPS sensor named BDM680 provided by Beidou Starcom, it can obtain the latitude and longitude of the robot's location and the robot's speed signal, and can provide the heading angle information of the mobile platform through dual antenna positioning. In the case of differential positioning, the positioning accuracy Can reach 0.02m. The computing platform of the robot is composed of an industrial computer with the product name i5-4500U and a STM32Z...

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Abstract

The invention discloses a heuristic dynamic planning control method of mobile robot tracking desired trajectory. The method comprises the following steps: 1, establishing a geodetic coordinate system and a robot coordinate system; 2, determining pose information of the mobile robot and pre-aiming point pose information; 3, computing a road curvature of a pre-aiming point location; 4, establishing a Markov decision process model of the mobile robot; 5, designing a control method of the tracking desired trajectory based on the heuristic dynamic planning algorithm; 6, deducing online learning rules of an executor and an evaluator in the heuristic dynamic planning algorithm; and 7, judging whether a pre-aiming point is the last location coordinate in the desired trajectory, if the pre-aiming point is the last location coordinate in the desired trajectory, controlling the robot to reduce speed to the pre-aiming point location, or returning to step 2 to perform in order. A good control effect can be acquired without repeatedly debugging a control parameter when tracking different desired trajectories, and the environment adaptability and the autonomous optimization capacity of the mobile robot can be improved.

Description

technical field [0001] The invention belongs to the technical field of mobile robots, and in particular relates to a control method for a mobile robot to track a predetermined trajectory. Background technique [0002] With the wide application of mobile robots, complex terrain and changing environments put forward higher requirements for the motion control ability of mobile robots. How to improve the path tracking performance of mobile robots for different linear roads has become a research hotspot. [0003] Mobile robots mostly use the "preview-follow" principle to track the predetermined trajectory. The traditional control methods include pure tracking and PID control, but the above methods ignore the mathematical model of the system, and it is difficult to obtain high-precision control effects. Some scholars have proposed a control method based on the vehicle dynamics model or kinematics model. The above method improves the control accuracy under the condition that the mo...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0214G05D1/0221G05D1/0223G05D1/0257G05D1/0276G05D1/0278
Inventor 宋彦张羊阳姚琦
Owner ANHUI AGRICULTURAL UNIVERSITY
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