Centralized formation control method for two-wheeled self-balancing vehicles
A technology of self-balancing vehicle and control method, which is applied in vehicle position/route/height control, non-electric variable control, control/regulation system and other directions, and can solve the problems of self-balancing shock and acceleration of the self-balancing vehicle
Active Publication Date: 2020-07-10
ZHEJIANG UNIV OF TECH
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Problems solved by technology
When the track route is too complicated, in order to track the trajectory and maintain the formation, the self-balancing car will suddenly accelerate too quickly. Under such a large acceleration, the balance of the self-balancing car will be greatly impacted
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[0070] The following will clearly and completely describe the technical solutions in the embodiments of the application with reference to the drawings in the embodiments of the application. Apparently, the described embodiments are only some, not all, embodiments of the application. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.
[0071] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field to which this application belongs. The terms used herein in the description of the application are only for the purpose of describing specific embodiments, and are not intended to limit the application.
[0072] Such as figure 1 As shown, in one of the embodiments, a centralized formation control method for two-wheeled self-b...
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The invention discloses a centralized formation control method for two-wheeled self-balancing vehicles. The method comprises the following steps: calculating ideal position information of a followingbalancing vehicle; calculating a position error of the following balance vehicle according to the current actual position information of the following balance vehicle and ideal position information; controlling an ideal linear speed and an ideal angular speed of a following robot by adopting a kinematics controller according to the position error output; if the rotation angle of the ideal angularspeed is the same as the actual rotation angle of the following balance vehicle, outputting the ideal angular speed to the following balance vehicle; otherwise, constructing an incremental PD controller, and outputting the actual angular speed to the following balance vehicle according to the rotating angle error within sampling time; if the coordinate running according to the ideal linear speed is the same as the actual running coordinate of the following balance vehicle, outputting the ideal linear speed to the following balance vehicle; and outputting the actual linear speed to the following balance vehicle according to the coordinate error running in the sampling time. According to the invention, the balance vehicles can stably run while the formation is kept.
Description
technical field [0001] The application belongs to the field of formation control of mobile robots, and in particular relates to a centralized formation control method for two-wheeled self-balancing vehicles. Background technique [0002] With the development of mechanical structure and industrial design, two-wheeled self-balancing agents have attracted great attention of researchers. The two-wheeled self-balancing intelligent body occupies a small space, is flexible in movement, and has low manufacturing cost, and is applicable to many fields of modern social life, industrial production, and scientific research and exploration. Nowadays, with the increasingly complex application functions, it is impossible to complete all workflows through a single agent, such as drone formation flight, multi-satellite collaborative operation, formation transportation of smart vehicles, etc., which requires multiple agents to cooperate to complete the task . In multi-agent collaborative co...
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IPC IPC(8): G05D1/02
CPCG05D1/0291G05D1/0223G05D1/0276Y02T10/72
Inventor 董辉袁登鹏董浩吴祥吴宇航田叮童涛钱学成夏启剑
Owner ZHEJIANG UNIV OF TECH