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Movement control method and device, storage medium and computer equipment

A control method and control path technology, applied in the direction of non-electric variable control, control/regulation system, two-dimensional position/channel control, etc., can solve the problems of movement error, increase left and right swing range, etc.

Active Publication Date: 2020-08-25
PING AN TECH (SHENZHEN) CO LTD
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AI Technical Summary

Problems solved by technology

This method is very simple and easy to implement, but the disadvantage is that due to the difference in the resistance of the left and right wheels and the difference in dynamic response characteristics, the actual synthetic speed of the left and right wheels is different from the expected synthetic speed. This difference will lead to the generation of movement errors and increase Left and right swing amplitude during movement

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  • Movement control method and device, storage medium and computer equipment
  • Movement control method and device, storage medium and computer equipment
  • Movement control method and device, storage medium and computer equipment

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Embodiment Construction

[0080] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that the present disclosure will be more thoroughly understood, and will fully convey the scope of the present disclosure to those skilled in the art.

[0081] As mentioned in the background, at present, most mobile robots driven by double differential wheels control the rotation speed of the wheels by completely decoupling the left and right wheels, that is, directly decomposing the moving linear velocity and angular velocity of the robot into the left and right wheel speeds. This method is very simple and easy to implement, but the disadvantage is that due to the differ...

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Abstract

The invention discloses a movement control method and device, a storage medium and computer equipment, relates to the technical field of artificial intelligence, and mainly aims to obtain actual linear speed data and actual angular speed data by utilizing actual speed data of double-wheel movement and correct the double-wheel speed data, so that speed errors are reduced, and left-right swing in the moving process is reduced. The method comprises the following steps of receiving a movement control request, and generating a movement control path according to destination coordinates carried in the request; respectively comparing actual linear speed data and actual angular speed data obtained by processing the acquired double-wheel actual speed data with ideal linear speed data and ideal angular speed data obtained by analyzing the movement control path to obtain a comparison result; and correcting the double-wheel moving speed data according to the comparison result so as to control the double wheels to move to the destination along the moving control path. The method is suitable for mobile control.

Description

technical field [0001] The present invention relates to the technical field of artificial intelligence, in particular to a mobile control method, device, storage medium and computer equipment. Background technique [0002] A mobile robot is a comprehensive system integrating environmental perception, navigation and path planning, mobile control and other functions. Mobile robots can not only accept human remote control commands, but also make behavioral decisions autonomously according to the environment, so as to complete specified tasks. Its main function is to assist or replace part of the dangerous, fatigue and repetitive work of human beings. It is widely used in the field of work with long time, high intensity, harsh environmental conditions and high risk. [0003] At present, most mobile robots driven by double differential wheels control the wheel speed by completely decoupling the left and right wheels, that is, directly decomposing the moving linear velocity and a...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0223G05D1/0221G05D1/0278G05D1/028G05D1/0276
Inventor 郜开开周宸周宝陈远旭
Owner PING AN TECH (SHENZHEN) CO LTD
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