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Robot trajectory tracking method and system and storage medium

A trajectory tracking and robot technology, applied in control/regulation systems, instruments, non-electric variable control, etc., can solve the problems of running speed and safety performance, and achieve the effect of improving trajectory tracking performance, comprehensive tracking and obstacle avoidance

Active Publication Date: 2020-08-07
CENT SOUTH UNIV
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  • Claims
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AI Technical Summary

Problems solved by technology

[0004] The technical problem to be solved by the present invention is to provide a robot trajectory tracking method, system and storage medium to solve the problem that the existing two-wheel drive robot cannot take into account the running speed and safety performance when passing through the obstacle area.

Method used

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  • Robot trajectory tracking method and system and storage medium
  • Robot trajectory tracking method and system and storage medium

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Embodiment Construction

[0071] An embodiment of the present invention provides a trajectory tracking method for an indoor two-wheel differential robot based on elastic constraints, such asfigure 1 shown, including the following steps:

[0072] Step 1. The differential robot receives the global path sequence sent by the upper planner

[0073] Step 2, the global path sequence, the differential robot trajectory tracking problem is constructed as an optimal planning problem, and the dynamic window method is used to solve the local optimal trajectory sequence X * :={x i ,y i ,θ i} i＝1,...n and control sequence U * :={v i ,ω i} i＝1,...n-1 ;

[0074] Step 3, the first m values ​​U of the velocity and angular velocity sequence obtained from the solution m * :={v i ,ω i} i＝1,...m , sent to the robot chassis actuator according to the control cycle, m is taken as 1;

[0075] Step 4, if the robot reaches the end point, stop, otherwise jump to step 2.

[0076] The specific steps of the method in ...

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Abstract

The invention discloses a robot trajectory tracking method, a robot trajectory tracking system and a storage medium which integrate the trajectory optimization and control, and better ensure the feasibility of trajectory tracking of a robot. When the robot passes through a dense obstacle, the weight in the target function is correspondingly adjusted according to the shortest distance between the current position of the differential robot and the obstacle by adopting the self-adaptive weight, so that the safety and the running speed can be considered when the robot performs trajectory tracking,and the trajectory tracking performance of an obstacle area is improved. According to the method, the obstacle avoidance constraint is put into the target function and is converted into the soft constraint, the optimal control input is found in the mode of sampling in the allowable control space, the non-convex optimization problem is solved, and meanwhile, the obstacle avoidance performance of the mobile robot is improved in the mode of dynamically adjusting the weight.

Description

technical field [0001] The invention relates to the field of trajectory tracking control of a two-wheel differential robot, in particular to a robot trajectory tracking method, system and storage medium. Background technique [0002] Since the second decade of the 21st century, more and more attention has been paid to the development of robot technology at home and abroad, and robot technology is considered to be one of the high technologies that are of great significance to the development of emerging industries. Driven by the development of new technologies such as computer technology, network technology, and MEMS technology, robot technology is rapidly expanding from traditional industrial manufacturing to medical services, education and entertainment, and a large number of indoor service robots have broad prospects. [0003] Due to the low cost of the two-wheel differential movement method, it is widely used in indoor service robots. When mobile robots run indoors, they...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0214G05D1/0221G05D1/0223
Inventor 余伶俐王正久霍淑欣白宇周开军
Owner CENT SOUTH UNIV
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