Autonomous driving path tracking control method of crawler-type mobile robot

A mobile robot and path tracking technology, applied in adaptive control, non-electric variable control, two-dimensional position/channel control, etc., can solve the problem of large tracking error

Active Publication Date: 2019-09-27
UNIV OF SCI & TECH BEIJING
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Problems solved by technology

[0004] The technical problem to be solved by the present invention is to provide an autonomous driving path tracking control method of a crawler-type mobile robot to solve ...

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  • Autonomous driving path tracking control method of crawler-type mobile robot
  • Autonomous driving path tracking control method of crawler-type mobile robot
  • Autonomous driving path tracking control method of crawler-type mobile robot

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Embodiment Construction

[0056] In order to make the technical problems, technical solutions and advantages to be solved by the present invention clearer, the following will describe in detail with reference to the drawings and specific embodiments.

[0057] Aiming at the problem that the existing kinematics model is used alone to describe the path tracking of a crawler mobile robot, which leads to large tracking errors, the invention provides an autonomous driving path tracking control method of the crawler mobile robot.

[0058] The sensor system is the hardware basis for a mobile robot (eg, a crawler mobile robot) to drive autonomously. During the autonomous driving process of the mobile robot, the sensor system can provide the necessary input for the control system of the mobile robot.

[0059] like figure 1 As shown, in this embodiment, the sensors that need to be used include but are not limited to: laser radar system (including: 2 laser radars 1), ultrasonic range finder 3, inertial navigation ...

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Abstract

The invention provides an autonomous driving path tracking control method of a crawler-type mobile robot. With the autonomous driving path tracking control method of the crawler-type mobile robot adopted, the accuracy and reliability of the path tracking of the mobile robot can be improved. The method comprises the following steps that: the current pose information, mass center speed information and driving wheel rotating speed information of the crawler-type mobile robot are acquired; the pose information of the crawler-type mobile robot in a prediction time domain is determined according to the obtained information through the kinematics and dynamics models of the crawler-type mobile robot, and the determined pose information is compared with expected path information, so that pose deviation in the prediction time domain can be obtained; with minimizing the sum of predicted pose deviation, predicted control quantity increment and predicted course angular velocity change in a path tracking process adopted as an objective, the optimization function of nonlinear model prediction control can be determined; the optimization function is minimized through constraint conditions, so that an optimal control sequence can be obtained; and therefore, the crawler-type mobile robot tracks an expected path according to the output pose information of the optimal control sequence so as to autonomously travel.

Description

technical field [0001] The invention relates to the field of autonomous driving control of a mobile robot, in particular to a tracking control method for an autonomous driving path of a crawler-type mobile robot. Background technique [0002] In recent years, tracked mobile robots have been widely used in military, search and rescue, and exploration fields. An autonomous mobile robot system usually includes mapping, localization, perception and navigation, among which path tracking is the core part of the navigation system. The goal of path-following control is to make a mobile robot autonomously follow a desired path as accurately as possible. For the path tracking control of mobile robots, the existing ones include fuzzy control (Fuzzy Control, FC) strategy, preview proportional integration differentiation (Proportion Integration Differentiation, PID) control, sliding mode control (Sliding Mode Control, SMC), linear quadratic Type regulator (Linear Quadratic Regulator, L...

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Application Information

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IPC IPC(8): G05D1/02G05B13/04
CPCG05B13/042G05D1/0217
Inventor 刘立李凯伦孟宇顾青白佳宾白国星
Owner UNIV OF SCI & TECH BEIJING
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