Trajectory tracking method and device, electronic equipment and storage medium

Abstract

The embodiment of the invention relates to the field of automatic control, and discloses a trajectory tracking method and device, electronic equipment and a storage medium. In the invention, the trajectory tracking method comprises the following steps that motion parameters of a tracking target are acquired, wherein the motion parameter comprises moving distance, speed changing time and maximum speed; a tracking process is divided into a plurality of tracking phases according to the motion parameters; a corresponding speed tracking curve is generated for each tracking phase; a tracing target is tracked according to the speed tracking curve of each tracking phase, and the tracking process is refined by dividing the tracking process into multiple phases, so that it is ensured that the speedtype of each tracking phase is single; the speed tracking curves are generated according to the pre-acquired motion parameters, and the unstable tracing caused by real-time data transmission delayingis prevented; and the speed tracking curves are generated correspondingly for each phase, the matching degree of the generated speed tracking curves and the speed curves of the tracking target is ensured, then the speed synchronization of the tracking target can be quickly achieved, and the stability of the tracking speed is ensured.

Description

technical field [0001] The embodiments of the present invention relate to the field of automatic control, and in particular to a trajectory tracking method, device, electronic equipment and storage medium. Background technique [0002] Synchronizing motion with target motion is an important part of robot control. In different applications, the motion characteristics of the tracked object are different, so different tracking algorithms need to be designed for different applications. The basic requirement of the tracking function is to quickly track the target with speed synchronization during the tracking process, to track the target accurately during the tracking target movement process, and to track the target with a stable speed. The design of the tracking algorithm will directly affect the response speed of the speed synchronization, the accuracy of the tracking position, and the stability of the tracking speed during the tracking process. Usually in the industrial field...

AI Technical Summary

Problems solved by technology

[0003] The inventor found at least the following problems in the related technology: in the process of trajectory tracking, it takes a long time for the tracking speed to reach the speed of the tracking target, and at the same time the tracking process Due to the characteristics of the speed curve, it is easy to overshoot the speed when the tracking speed exceeds the maximum speed of the tracking target, and the tracking process will cause the tracking delay caused by the real-time data transmission delay, resulting in the problem of unstable speed

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