Robust control method and system for mobile robot taking into account obstacle avoidance

Abstract

The invention discloses a mobile robot robust control method and system taking into account obstacle avoidance, which comprises the following steps: establishing a kinematics model of the mobile robot; designing a fractional sliding mode controller based on the kinematics model of the mobile robot; The kinematics model is designed with no flutter sliding mode approach law; the potential field function is constructed to generate a real-time trajectory around the obstacle; the real-time judgment whether to circumvent the obstacle is required to obtain the real-time running trajectory of the mobile robot. The present invention constructs a kinematics model, and then designs a fractional-order sliding mode controller and a flutter-free sliding mode reaching law on this basis to optimize the control input, thereby improving the robustness and tracking accuracy of the system; at the same time , with the generation of real-time trajectory around obstacles and the judgment of obstacle circumvention, the smooth switching between the real-time trajectory of the mobile robot and the tracking trajectory can be realized, and the collision-free and precise trajectory tracking control of the mobile robot can be completed to improve the operating efficiency and safety of the operating system .

Description

technical field [0001] The invention relates to the technical field of motion control of mobile robots, in particular to a robust control method and system for mobile robots that take into account obstacle avoidance. Background technique [0002] Trackless autonomous mobile robots can reduce production costs and improve production efficiency. They are successfully applied in the fields of assembly, logistics and even national defense technology. They are an important pillar of the intelligent manufacturing industry. strategic significance. [0003] In order to realize the precise trajectory tracking of the mobile robot chassis, it is necessary to design the kinematics controller on the basis of establishing the kinematics model, so as to optimize the control input by using the optimized performance index and ensure the optimal control performance of the mobile robot system. Commonly used methods mainly include PID controller, sliding mode controller, inversion controller an...

AI Technical Summary

Problems solved by technology

However, considering the complexity of the operating environment, the current motion control of mobile robots still has the following problems: (1) Conventional methods do not consider modeling errors and perturbations of system model parameters, so the robustness of the control system is limited; (2) The reaching law used in traditional sliding mode control will cause system chatter, resulting in large following error jitter, which seriously affects the running accuracy of the mobile robot; (3) Considering that there are dynamic obstacles in the complex fully autonomous environment (for example, Other running robots, the human body itself, etc.), the conventional method does not take into account the trajectory circumvention in the process of trajectory tracking, so the operating efficiency and safety of the system need to be further improved

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