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Wheeled mobile robot, control method and control system thereof and storage medium

A mobile robot and control method technology, applied in the field of mobile robots, can solve the problems that cannot meet the actual needs of customizable scenes, achieve the effects of executable motion planning and control, improve work efficiency, and save computing resources

Pending Publication Date: 2021-09-07
广州蓝胖子移动科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This solution mainly considers how mobile robots do positioning, navigation, planning and control in the natural environment, but this solution cannot meet the actual needs of customizable scenarios

Method used

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  • Wheeled mobile robot, control method and control system thereof and storage medium
  • Wheeled mobile robot, control method and control system thereof and storage medium
  • Wheeled mobile robot, control method and control system thereof and storage medium

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Embodiment Construction

[0028] In order to make the technical problems to be solved by the present invention, technical solutions and beneficial effects clearer and clearer, the present invention will be described in further detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only for explaining the present invention, and are not intended to limit the present invention.

[0029] In the following description, use of suffixes such as 'module', 'part' or 'unit' for denoting elements is only to facilitate description of the present invention and has no specific meaning by itself. Therefore, 'module', 'part' or 'unit' may be mixedly used.

[0030] It should be noted that the terms "first" and "second" in the description and claims of the present invention and the above drawings are used to distinguish similar objects, but not necessarily to describe a specific order or sequence.

[0031] In one embodiment, su...

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PUM

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Abstract

The invention discloses a wheeled mobile robot, a control method and system thereof and a storage medium, and the control method comprises the steps: generating a global path according to key point information and a global static cost map; generating a local path by using a control point model according to the global path and a local dynamic cost map; generating the speed distribution of each point on the local path according to the local path and the motion constraint of the vehicle, and planning a reference trajectory; and calculating a control instruction according to the reference trajectory, the control point model and the state of the vehicle, and distributing and executing the control instruction. Through the embodiment of the invention, high-performance motion planning and control can be realized through small calculation amount on the control of the wheeled mobile robot, and the purposes of saving calculation resources, reducing the cost and meeting the actual requirements of customizable scenes are achieved.

Description

technical field [0001] The present invention relates to the field of mobile robots, in particular to a wheeled mobile robot and its control method, control system and storage medium. Background technique [0002] Currently, wheeled mobile robots are widely used for automated movement in warehouses. In the realization of the warehousing automation system, the mobile robot needs to cooperate with the scheduling system to complete the automation and intelligence of the entire warehousing. Due to the customizable characteristics of the warehouse system (the scene can be customized to be "simple", not as "complex" as in the natural environment), R&D personnel have a certain degree of freedom to design the operation map of the entire warehouse, and the scheduling system according to the task situation, Send mission instructions to the mobile robot, and the mobile robot will independently decide how to move to the destination and perform related actions according to the existing m...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0221G05D1/0276
Inventor 潘金文刘奇帅
Owner 广州蓝胖子移动科技有限公司
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