Mobile control method, device, storage medium and computer equipment

A control method and control path technology, applied in non-electric variable control, control/regulation system, two-dimensional position/channel control, etc. The effect of reducing the speed error

Active Publication Date: 2022-04-15
PING AN TECH (SHENZHEN) CO LTD
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  • Claims
  • Application Information

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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  • Mobile control method, device, storage medium and computer equipment
  • Mobile control method, device, storage medium and computer equipment
  • Mobile control method, 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 for more thorough understanding of the present disclosure and to 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 difference in the...

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Abstract

The invention discloses a movement control method, device, storage medium and computer equipment, and relates to the technical field of artificial intelligence. The data is corrected to reduce the speed error and reduce the left and right swings during the movement. The method includes: receiving a movement control request, generating a movement control path according to the destination coordinates carried in the request; using the actual linear velocity data and the actual angular velocity data obtained by processing the acquired actual velocity data of the two wheels, respectively, and the analysis institute Compare the ideal linear velocity data and ideal angular velocity data obtained by the above-mentioned movement control path to obtain the comparison result; correct the two-wheel movement speed data according to the comparison result, so as to control the two-wheel to move to the destination along the movement control path . The invention 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 Patents(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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