Path tracking method and device, mobile robot and non-transient computer readable storage medium

A mobile robot, path tracking technology, applied in the direction of instruments, attitude control, non-electric variable control, etc.

Active Publication Date: 2020-04-03
SHENZHEN SILVER STAR INTELLIGENT TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Embodiments of the present invention provide a path tracking method, a mobile robot, and a non-transitory computer-readable storage medium, aiming to solve the problem that existing mobile robots in the prior art cannot accurately track various planned paths for movement. technical problem

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  • Path tracking method and device, mobile robot and non-transient computer readable storage medium
  • Path tracking method and device, mobile robot and non-transient computer readable storage medium
  • Path tracking method and device, mobile robot and non-transient computer readable storage medium

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Embodiment Construction

[0055] In order to facilitate the understanding of the present invention, the present invention will be described in more detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that when an element is said to be "fixed" to another element, it may be directly on the other element, or there may be one or more intervening elements therebetween. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or one or more intervening elements may be present therebetween. The orientation or positional relationship indicated by the terms "upper", "lower", "inner", "outer", and "bottom" used in this specification is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the The invention and the simplified description do not indicate or imply that the device or element referred to must have a specific orientation...

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Abstract

The embodiment of the invention provides a path tracking method and device, a mobile robot and a non-transient computer readable storage medium. The mobile robot comprises: a robot body; the method comprises the following steps: firstly, acquiring current pose information of the mobile robot and a path position point set on a planned path; then, according to the extracted nearest path point closest to the mobile robot, determining target coordinate information of a next target point; according to the obtained distance information and yaw angle information between the current position of the mobile robot and the next target point, obtaining the yaw angle of the mobile robot;, updating the current pose information and finally, continuously tracking the path according to the updated current pose information, so that the mobile robot can accurately track various complex paths planned by a user to move, and the corresponding work task is more effectively completed.

Description

【Technical field】 [0001] The present invention relates to the technical field of automation control, in particular to a path tracking method and device, a mobile robot and a non-transitory computer-readable storage medium. 【Background technique】 [0002] The types of mobile robots are cleaning mobile robots, mowing mobile robots, security patrol mobile robots or service mobile robots, etc. The mobile robot can complete corresponding tasks according to the path planned by the user. Taking the sweeping mobile robot as an example, the sweeping mobile robot is provided with a cleaning device and a driving device. Driven by the driving device, the mobile robot moves by itself according to the planned cleaning path, and cleans the ground through the cleaning device. [0003] In the process of realizing the present invention, the inventors found that the related technologies have at least the following problems: the existing mobile robots cannot accurately track the various paths...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02G05D1/08
CPCG05D1/0219G05D1/0223G05D1/0891
Inventor 闫瑞君罗佳敏陈善耀林李泽
Owner SHENZHEN SILVER STAR INTELLIGENT TECH CO LTD
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