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An autonomous obstacle avoidance method for a two-wheeled self-balancing vehicle in a multi-obstacle environment

A self-balancing vehicle and environment technology, applied in adaptive control, general control system, two-dimensional position/channel control and other directions, can solve the problem of autonomous obstacle avoidance with two-wheeled self-balancing vehicle, and achieve control stability. The effect of exercise efficiency and ensuring exercise safety

Inactive Publication Date: 2020-08-21
DALIAN UNIV OF TECH
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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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  • An autonomous obstacle avoidance method for a two-wheeled self-balancing vehicle in a multi-obstacle environment
  • An autonomous obstacle avoidance method for a two-wheeled self-balancing vehicle in a multi-obstacle environment
  • An autonomous obstacle avoidance method for a two-wheeled self-balancing vehicle in a multi-obstacle environment

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Embodiment Construction

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

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

[0021]

[0022]

[0023]

[0024] in, 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 earth coordinate system respectively, is the steering angle, θ is the inclination angle of the vehicle body, m ω is the wheel mass, m c is the chassis mass, m b is the mass of the vehicle body, r is the radius of the wheel, d is the wheel base, L is the distance from the cen...

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Abstract

The invention relates to an autonomous obstacle avoidance method for a two-wheeled self-balancing vehicle used in a multi-obstacle environment, including the steps of improving the artificial potential field function by considering the safety distance, and establishing a two-wheeled self-balancing vehicle obstacle avoidance controller based on the improved artificial potential field function The steps of adjusting the key parameters of the obstacle avoidance controller using the fuzzy logic method. The proposed new artificial potential field function can not only overcome the local minimum problem when obstacles are near the target point, but also more effectively ensure the movement safety of mobile robots, and can be used for obstacle avoidance control of various types of autonomous mobile platforms . This application is an effective obstacle avoidance scheme for an underactuated, incomplete two-wheeled self-balancing vehicle in a multi-obstacle environment, which can achieve a good balance between control stability and motion efficiency.

Description

technical field [0001] The invention belongs to the field of control of two-wheeled self-balancing vehicles, in particular to an autonomous obstacle avoidance method for two-wheeled self-balancing vehicles used in multi-obstacle environments. Background technique [0002] In the actual application process of two-wheeled self-balancing vehicles, such as home services, industrial production, transportation and unknown environment detection, etc., it is inevitable to encounter various obstacles. The obstacle avoidance method of wheel self-balancing vehicle has important practical significance. However, as a typical inherently unstable nonholonomic and underactuated system, effective obstacle avoidance control of two-wheeled self-balancing vehicles in multi-obstacle environments is extremely challenging. [0003] The Chinese patent application number 201410448977.X proposes a fuzzy control-based two-wheeled self-balancing robot obstacle avoidance system and control method. The ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/02G05B13/04G05D1/02
CPCG05D1/0214G05D1/0221G05B13/0275G05B13/042G05D1/0217
Inventor 岳明宁一高高俊杰郭烈上官锦永
Owner DALIAN UNIV OF TECH
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