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Indoor mobile robot charging path planning and motion control algorithm

A mobile robot, charging path technology, applied in non-electric variable control, vehicle position/route/height control, control/regulation system, etc., can solve the problem of limited sensing distance of lidar camera, and achieve the effect of reducing trajectory increase

Active Publication Date: 2021-07-23
NORTHWESTERN POLYTECHNICAL UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The technical problem solved by the present invention is: in order to solve the problem that in the existing mobile robot application, the laser radar can only sense at a long distance with high precision and the camera has a limited perception distance, the present invention proposes a combination of laser radar remote control and camera short-range control Charging path planning and motion control method for indoor mobile robot

Method used

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  • Indoor mobile robot charging path planning and motion control algorithm
  • Indoor mobile robot charging path planning and motion control algorithm
  • Indoor mobile robot charging path planning and motion control algorithm

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Embodiment Construction

[0073] In describing the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", " Orientation indicated by rear, left, right, vertical, horizontal, top, bottom, inside, outside, clockwise, counterclockwise, etc. The positional relationship is based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, Therefore, it should not be construed as limiting the invention.

[0074] see Figure 1-Figure 9 , an indoor mobile robot charging path planning and motion control algorithm, the specific steps are as follows:

[0075] Step 1. According to the robot’s working environment, combined with the commonly used w...

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Abstract

The invention provides an indoor mobile robot charging path planning and motion control algorithm, which is characterized in that a parabola-straight line smoothing method is combined with an A* path planning method, so that track increase caused by smoothing is greatly reduced while a track is smoothed; according to a kinematic model of a mobile robot, a trajectory tracking control law is established, and proper control parameters are selected through stability analysis, so that the robot can effectively track and plan a trajectory; and finally, on the basis of finding out the accurate position of the charging point, a point stabilization control law is established according to the kinematic model of the mobile robot, and proper control parameters are selected through stability analysis, so that the robot smoothly moves to the charging point and realizes accurate docking.

Description

technical field [0001] The invention belongs to the field of robot control, in particular to a charging path planning and motion control method for an indoor mobile robot. Background technique [0002] With the development of robotics, mobile robots have been used for various tasks in indoor environments, such as floor cleaning, shopping guidance, and elderly care, etc., and the autonomous operation of mobile robots is a key element to realize these functions. Limited by the size and battery capacity of the mobile robot, the robot usually needs to be charged and operated for a longer period of time. In order to achieve efficient charging of the robot and improve its work efficiency under unmanned conditions, it must be ensured that the robot can reach the charging point autonomously and dock for docking. [0003] Robot docking technology can be divided into two types: one is internal docking, which refers to the docking inside the robot; the other is external docking, which...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0246G05D1/0257G05D1/0223G05D1/0225G05D1/0221G05D1/0276
Inventor 李艳丽李乐刘卫东雷小康
Owner NORTHWESTERN POLYTECHNICAL UNIV