An intelligent trajectory tracking control method for mobile robots

A mobile robot and trajectory tracking technology, applied in the field of control, can solve the problems of mobile robot modeling difficulty, low feasibility, model cannot completely replace the nonlinear robot model, etc., and achieve good trajectory tracking effect

Active Publication Date: 2022-07-15
ZHEJIANG UNIV OF TECH
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Problems solved by technology

[0003] The dynamic equations of mobile robots are nonlinear, and most of the existing control methods are based on models. Although many feedback linear methods have been widely used in mobile robot control, including exact feedback linearization, approximate feedback linearization and pseudo-linearization, etc., but The model obtained after linearization still cannot completely replace the nonlinear robot model, and it is very difficult and not feasible to use linearization to model mobile robots, so a data-driven method is proposed

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  • An intelligent trajectory tracking control method for mobile robots
  • An intelligent trajectory tracking control method for mobile robots
  • An intelligent trajectory tracking control method for mobile robots

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[0059] In order to make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention are further described below with reference to the accompanying drawings and actual experiments.

[0060] refer to Figure 1-Figure 4 , an intelligent trajectory tracking control method for mobile robots. For a given mobile robot model, the convergence of the least squares method is used to estimate the weights; and the weights of the controller are updated by introducing the method of neural network and policy iteration in reinforcement learning. , to find the optimal value function.

[0061] The intelligent trajectory tracking control method of the mobile robot of the present embodiment includes the following steps:

[0062] 1) Build a mobile robot nonlinear system;

[0063] 2) Initialize the state variables of the system and give an initial strategy;

[0064] 3) Use the reinforcement learning strategy iterative method ...

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Abstract

An intelligent trajectory tracking control method for a mobile robot. For a given mobile robot model, the convergence of the least squares method is used to estimate the weights; and the weights of the controller are updated by introducing the method of neural network and strategy iteration in reinforcement learning, Solving the optimal value function, the method includes the following steps: 1) establishing a mobile robot nonlinear system; 2) initializing the state variables of the system, and giving an initial strategy; 3) using the method of reinforcement learning strategy iteration to update the weights , to find the optimal policy; 4) Introduce the neural network algorithm and use the convergence of least squares to calculate the weights; 5) Stop the policy update. The present invention ensures a better trajectory tracking effect without requiring dynamic knowledge inside the power system.

Description

technical field [0001] The invention belongs to the technical field of control, and specifically provides an intelligent trajectory tracking control method of a mobile robot, which ensures a better trajectory tracking effect without requiring dynamic knowledge inside a power system. Background technique [0002] In actual production and life, the value of mobile robots is increasing day by day, and the research on mobile robots has also received more attention. [0003] The dynamic equations of mobile robots are nonlinear, and most of the existing control methods are based on models. Although many feedback linear methods have been widely used in mobile robot control, including accurate feedback linearization, approximate feedback linearization and pseudo-linearization, etc. The model obtained after linearization still can not completely replace the nonlinear robot model, and it is very difficult to use linearization to model mobile robots, and the feasibility is not high, so...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0253G05D1/0223G05D1/0221G05D1/0276
Inventor 朱俊威董子源张恒吴珺张文安
Owner ZHEJIANG UNIV OF TECH
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