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Integral model prediction control method of omnidirectional mobile robot

A technology of model predictive control and mobile robot, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problem that traditional model predictive control cannot eliminate steady-state error

Active Publication Date: 2020-12-04
ZHEJIANG UNIV OF TECH
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  • Abstract
  • Description
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Problems solved by technology

[0004] In the operation of mobile robots, due to the influence of external factors such as friction, there is a steady-state error in the entire mobile robot system. Traditional model predictive control cannot eliminate this steady-state error. The ability of the controller to predict and optimize, so a new improved algorithm must be proposed to solve the problems existing in the operation, and the performance index that meets the actual requirements

Method used

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  • Integral model prediction control method of omnidirectional mobile robot
  • Integral model prediction control method of omnidirectional mobile robot
  • Integral model prediction control method of omnidirectional mobile robot

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Embodiment Construction

[0118] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0119] The invention provides a technical solution: an integral model predictive control method for an omnidirectional mobile robot,

[0120] Step 1: Construct the kinematics model of the omnidirectional mobile robot

[0121] The schematic diagram of an omnidirectional mobile robot is shown in figure 1 As shown, the front and rear wheels of the omnidirectional mobile robot can go straight and turn. The front wheel is represented by A, the rear wheel is repres...

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Abstract

The invention relates to the technical field of robot optimization control, in particular to an integral model prediction control method of an omnidirectional mobile robot. The integral model prediction control method comprises the following steps that 1, a kinematics model of the omnidirectional mobile robot is established; 2, a prediction model of integral model prediction control is designed; 3, a target function is designed; 4, constraint conditions are designed; and 5, aiming at steady-state errors existing in operation, an integral effect is designed to enable the mobile robot to be capable of preparing within specified time and rapidly and stably tracking a track. The mobile robot can have better track tracking capability and operation control precision.

Description

technical field [0001] The invention relates to the technical field of robot optimization control, and the specific field is an integral model predictive control method of an omnidirectional mobile robot. Background technique [0002] Mobile robot is a complex system, which includes a wide range of research contents, including navigation and positioning, trajectory tracking, sensor fusion, image recognition and artificial intelligence. Mobile robots have been widely used and play an important role in logistics, manufacturing, national defense, and service industries. Mobile robots can receive external command signals and perform corresponding tasks, so they can greatly improve work efficiency, reduce the workload of staff, and reduce the rate of safety accidents. Among them, the trajectory tracking problem is the core problem of the research, and as its most basic research problem, the research of trajectory tracking has been widely concerned by scholars. Trajectory tracki...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16G05B13/04
CPCB25J9/16B25J9/1628G05B13/042
Inventor 鲁聪达颜佳晴蔡颖杰周圣云潘婷
Owner ZHEJIANG UNIV OF TECH
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