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A Contour Tracking Method Based on Field Strength Information

A technology of contour lines and field strength, applied in navigation calculation tools and other directions, can solve problems such as steady state, error, chattering, etc., and achieve the effects of high stability, simple design, and wide application range

Active Publication Date: 2021-10-15
TSINGHUA UNIV
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Problems solved by technology

The literature "Method for tracking of environmental level sets by a unicycle-like vehicle" designed a contour tracking method based on sliding mode control, the control output of this method will switch between the maximum value and the minimum value according to the tracking error, which is Will cause "chattering" problems in practical applications
In addition, this sliding mode control method has a steady-state error in the circular signal field, and also needs to limit the initial state of the mobile robot

Method used

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  • A Contour Tracking Method Based on Field Strength Information
  • A Contour Tracking Method Based on Field Strength Information
  • A Contour Tracking Method Based on Field Strength Information

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Embodiment Construction

[0032] A contour tracking method based on field strength information proposed by the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0033] A contour tracking method based on field strength information proposed by the present invention first establishes the dynamic model of the mobile robot in the plane coordinate system, then measures the field strength of the signal field at the current position through the sensor carried by the robot, and finally based on the field strength The strength information design control quantity, control the mobile robot to achieve the desired field strength and continue to run along the contour line corresponding to the field strength. The method proposed by the invention can realize the continuous tracking of the expected contour line only by using the field strength information as the feedback variable, without limiting the initial state of the mobile robot, an...

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Abstract

The invention proposes a contour tracking method based on field strength information, which belongs to the field of robot field source search. This method first establishes the dynamic model of the mobile robot in the plane coordinate system. After the mobile robot starts to track the expected contour line, it measures the field strength information of the signal field at the current position of the robot through the sensor installed on the robot. Finally, based on the field strength Information design control quantity, control the mobile robot to reach the desired field strength, and keep track of the isoline corresponding to the strength. The method of the invention only needs field strength information as a feedback variable, is simple in design, can ensure the global stability of the tracking method without limiting the initial state of the mobile robot, and the design of control parameters does not depend on the initial position of the mobile robot. The method of the invention can realize effective contour tracking without the position information of the robot and the distribution of the signal field, has high reliability and is suitable for engineering application.

Description

technical field [0001] The invention relates to a contour tracking method based on field strength information, which belongs to the field of robot field source search. Background technique [0002] With the rapid development of mobile robot technology, field source search through mobile robots has been widely used in military and civilian fields, such as air pollution monitoring, fire monitoring, marine pollution monitoring, etc. [0003] Among them, contour tracking is a special field source search method: the mobile robot needs to reach the desired field strength during the tracking process, and continue to run along the corresponding contour of the field strength to obtain the distribution information of the signal field Or draw contour lines. [0004] When using a mobile robot for contour tracking, ideally, both the position of the mobile robot and the distribution information of the signal field can be obtained. At this time, the tracking of the expected contour can b...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 游科友董斐宋士吉
Owner TSINGHUA UNIV
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