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Neural Network-Based Cooperative Path Tracking Control Method for Constrained Mobile Robots

A mobile robot and neural network technology, applied in the field of restricted mobile robot cooperative path tracking control, can solve the problem of inability to handle nonlinear modeling uncertainty, increasing the difficulty of mobile robot controller, unknown parameters or nonlinear modeling uncertainty And other issues

Active Publication Date: 2020-09-18
SOUTH CHINA UNIV OF TECH +1
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  • Summary
  • Abstract
  • Description
  • Claims
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Problems solved by technology

[0004] In addition, mobile robots usually have problems such as unknown parameters or nonlinear modeling uncertainties. The existence of these problems increases the difficulty of mobile robot controller design. How to effectively identify unknown parameters or nonlinear modeling uncertainties is the field of intelligent control. one of the difficult subjects
Currently, adaptive control methods provide an efficient way to deal with unknown parameters, however, this method cannot deal with nonlinear modeling uncertainties

Method used

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  • Neural Network-Based Cooperative Path Tracking Control Method for Constrained Mobile Robots
  • Neural Network-Based Cooperative Path Tracking Control Method for Constrained Mobile Robots
  • Neural Network-Based Cooperative Path Tracking Control Method for Constrained Mobile Robots

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Embodiment

[0112] like figure 1 As shown, the present embodiment provides a neural network-based cooperative path tracking control method for limited mobile robots, including the following steps:

[0113] Step 1, such as figure 2 As shown, the kinematics and dynamics model of a single mobile robot is established, and then the model equation is converted, the basic kinematics and dynamics model is converted into a differential equation of pose and state, and extended to the i-th mobile robot, In this embodiment, three mobile robots are used for illustration in the formation;

[0114] The kinematics and dynamics model of a single mobile robot is established as:

[0115]

[0116]

[0117] where, η = [x, y, ψ] T , x, y, ψ are the position (x, y) and direction angle (ψ) of the mobile robot respectively, w=[w 1 ,w 2 ] T ,w 1 ,w 2 are the angular velocities of the left and right wheels of the mobile robot, τ=[τ 1 , τ 2 ], τ 1 , τ 2 are the control torques of the left and righ...

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Abstract

The invention discloses a cooperative path tracking control method for a limited mobile robot based on a neural network. The method steps include: establishing a kinematics and dynamics model of the mobile robot; defining a path tracking error equation; and establishing a performance-limited tan of the mobile robot. type obstacle Lyapunov function; based on graph theory knowledge, establish a formation method of multiple mobile robots; establish the path parameter update rate equation of mobile robots; use the backward design method to design the nonlinear modeling uncertainties of mobile robots. Neural network based controller; designing formation controller. This invention not only ensures that the path tracking error of a single mobile robot eventually converges to a small neighborhood, but also ensures that the error is always within a given interval, ensuring transient performance. At the same time, the invention realizes collaborative control of multiple mobile robots. Make multiple mobile robots evenly distributed on the same path according to path parameters.

Description

technical field [0001] The invention relates to the field of mobile robot formation control, in particular to a limited mobile robot cooperative path tracking control method based on a neural network. Background technique [0002] At present, mobile robots have many applications in practical scenarios, such as unmanned delivery vehicles, automatic sorting of express delivery, automatic transportation of goods in ports, and even driverless technology. With the continuous expansion of robot application fields, people have higher and higher requirements for the control performance of mobile robots, including transient performance and safety, which means that the controllers designed for mobile robots need to have good transient performance and Do not violate security boundary requirements. At present, there is very little research in this area, and many control methods can only guarantee the final stability of the system, without considering the transient performance. When the...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0223G05D1/0214G05D1/0276
Inventor 王敏张玉望戴诗陆杨辰光
Owner SOUTH CHINA UNIV OF TECH
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