Autonomous obstacle avoidance method for two-wheeled self-balancing vehicle under multi-obstacle environment

A self-balancing vehicle and environmental technology, applied in the direction of adaptive control, general control system, two-dimensional position/channel control, etc., can solve the problem that the two-wheeled self-balancing vehicle cannot autonomously avoid obstacles, etc., and achieve control stability It has the effect of improving exercise efficiency and ensuring exercise safety

Inactive Publication Date: 2020-02-07
DALIAN UNIV OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, this method is mainly aimed at a single obstacle environment and cannot be used for autonomous obstacle avoidance of a two-wheeled self-balancing vehicle in a multi-obstacle environment.

Method used

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  • Autonomous obstacle avoidance method for two-wheeled self-balancing vehicle under multi-obstacle environment
  • Autonomous obstacle avoidance method for two-wheeled self-balancing vehicle under multi-obstacle environment
  • Autonomous obstacle avoidance method for two-wheeled self-balancing vehicle under multi-obstacle environment

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Embodiment Construction

[0019] In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be described in detail below with reference to the accompanying drawings and embodiments.

[0020] Such as figure 1 As shown, the two-wheel self-balancing vehicle involved in the present invention mainly includes wheel 1, chassis 2 and body 3, and its dynamic model can be expressed as

[0021]

[0022]

[0023]

[0024] among them, τ v =τ r +τ l , Τ ω =τ r -τ l , M v = I 2 / r 2 +m ω +m c / 2+m b / 2,J 1 = I 1 +I 3 / 2+I 5 / 2+(m ω +I 2 / r 2 )d 2 / 4,J 2 = I 4 / 2+I 6 / 2+m b L 2 / 2, x and y are the horizontal and vertical coordinates in the geodetic coordinate system, Is the steering angle, θ is the body inclination angle, m ω Is the wheel mass, m c Is the chassis mass, m b Is the body mass, r is the wheel radius, d is the track, L is the distance from the center of mass of the body to the axle, I 1 Is the moment of inertia of the wheel around its di...

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Abstract

The invention relates to an autonomous obstacle avoidance method for a two-wheeled self-balancing vehicle under a multi-obstacle environment. The autonomous obstacle avoidance method comprises the steps that an artificial potential function is improved by considering the safe distance, an obstacle avoidance controller of the two-wheeled self-balancing vehicle is constructed based on improvement ofthe artificial potential function, and key parameters of the obstacle avoidance controller are adjusted through a fuzzy logic method. Through the provided novel artificial potential function, the local minimum problem generated when obstacles are located nearby target points can be solved, motion safety of a moving robot can further be ensured more effectively, and the novel artificial potentialfunction can be used for various types of autonomous moving platform obstacle avoidance control. The autonomous obstacle avoidance method is an effective obstacle avoidance scheme aiming at the under-actuated and incomplete two-wheeled self-balancing vehicle under the multi-obstacle environment, and good balance of control stability and motion efficiency can be achieved.

Description

Technical field [0001] The invention belongs to the field of two-wheel self-balancing vehicle control, and specifically is an autonomous obstacle avoidance method for two-wheel self-balancing vehicle used in a multi-obstacle environment. Background technique [0002] In the actual application of the two-wheeled self-balancing vehicle, such as household services, industrial production, transportation, and unknown environment detection, various obstacles will inevitably be encountered. Therefore, a two-wheeled self-balancing vehicle for multi-obstacle environment is developed. The obstacle avoidance method of self-balancing vehicle has important practical significance. However, as a typical inherently unstable incomplete and under-driven system, the effective obstacle avoidance control of a two-wheeled self-balancing vehicle in a multi-obstacle environment is extremely challenging. [0003] The Chinese patent with the application number 201410448977.X proposes a two-wheel self-balan...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/02G05B13/04G05D1/02
CPCG05B13/0275G05B13/042G05D1/0214G05D1/0221G05D1/0217
Inventor 岳明宁一高高俊杰郭烈上官锦永
Owner DALIAN UNIV OF TECH
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