Trajectory tracking control method for multipurpose wheeled mobile robot

A mobile robot, trajectory tracking technology, applied in general control systems, adaptive control, control/regulation systems, etc., can solve the problem that the reference linear velocity is 0 or the reference angular velocity is 0, the application is cumbersome and unpractical, and the control parameters are too high. Many problems, to achieve the effect of wide application and convenience, significant control effect, and direct control method

Active Publication Date: 2020-12-15
SOUTHEAST UNIV
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Problems solved by technology

[0005] However, most of these existing trajectory tracking control methods have complex forms, too many control parameters, cumbersome and impractical applications, or have singular points, which cannot be applied to the situation where the reference linear velocity is 0 or the reference angular velocity is 0.

Method used

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  • Trajectory tracking control method for multipurpose wheeled mobile robot
  • Trajectory tracking control method for multipurpose wheeled mobile robot
  • Trajectory tracking control method for multipurpose wheeled mobile robot

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Embodiment Construction

[0053] The present invention will be further described below in conjunction with the accompanying drawings.

[0054] A kind of track tracking control method of multi-purpose wheeled mobile robot of the present embodiment, the step comprises:

[0055] Step 1: Establish the kinematics model of the wheeled mobile robot and give the kinematics equation of the reference trajectory.

[0056] The trajectory tracking diagram of a wheeled mobile robot is shown in figure 1 shown. X-Y is the established plane Cartesian coordinate system. Point P is the center of mass of the wheeled mobile robot, [x(t), y(t)] is the position coordinate of the wheeled mobile robot in the plane Cartesian coordinate system, θ is the heading angle of the wheeled mobile robot, and θ∈( -π, π], v, ω are the actual linear velocity and angular velocity of the mobile robot respectively. Point Q is the reference center of mass of the mobile robot, [x ref (t),y ref (t)] is the reference position coordinates of t...

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Abstract

The invention discloses a trajectory tracking control method for a multipurpose wheeled mobile robot. The method comprises the following steps: firstly, under a rectangular plane coordinate system, establishing a kinematics model of the wheeled mobile robot, and giving a kinematics equation of a reference track; secondly, defining a trajectory tracking error of the wheeled mobile robot, and establishing a trajectory tracking error system kinematics model; and finally, designing a trajectory tracking control method, determining an appropriate control gain to make a closed-loop trajectory tracking error system of the wheeled mobile robot globally consistent and asymptotically stable to converge trajectory tracking errors to zero and then complete accurate tracking of the wheeled mobile roboton multiple types of reference trajectories. The method is simple in form, high in universality, wide in application, capable of tracking any smooth reference trajectory and remarkable in control effect.

Description

technical field [0001] The invention relates to a track tracking control method of a multipurpose wheeled mobile robot, which belongs to the technical field of motion control of wheeled mobile robots. Background technique [0002] With the rapid development of artificial intelligence, wheeled mobile robots have become the most widely used and hottest topic in the field of mobile robot research due to their simple mechanical structure, convenient control and use, and superior actual performance. , Aerospace and many other fields have gradually shown increasingly broad development prospects. As the core task of mobile robot motion control design, trajectory tracking plays an important role. [0003] The trajectory tracking control methods of wheeled mobile robots can be mainly divided into two categories: dynamic model-based and kinematic model-based. Compared with the trajectory tracking control method based on the dynamic model, the trajectory tracking control method based...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 王翔宇刘维明梁升一李世华
Owner SOUTHEAST UNIV
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