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Wheeled mobile robot state adjustment method based on gradient descent

A mobile robot and state adjustment technology, which is applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems that state-adjusted mobile robots cannot successfully complete tasks, and achieve less workload, accurate and efficient adjustment effects, and convenient operation Effect

Active Publication Date: 2021-12-14
千翼蓝犀智能制造科技(广州)有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Moreover, the inaccurate state adjustment will also cause the mobile robot to fail to complete the prescribed tasks successfully.

Method used

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  • Wheeled mobile robot state adjustment method based on gradient descent
  • Wheeled mobile robot state adjustment method based on gradient descent
  • Wheeled mobile robot state adjustment method based on gradient descent

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Embodiment Construction

[0041] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided for more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0042] An embodiment of the present invention provides a method for adjusting the state of a wheeled mobile robot based on gradient descent. figure 1 shown, including the following steps:

[0043] S1. According to minimizing the deviation between the current state of the wheeled mobile robot and the expected adjustment state, based on the gradient descent formula, design a new performance index described on the velocity layer;

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Abstract

The invention discloses a wheeled mobile robot state adjustment method based on gradient descent. The wheeled mobile robot state adjustment method comprises the following steps of designing a novel performance index described on a speed layer based on a gradient descent formula according to the deviation between the minimized wheeled mobile robot current state and an expected adjustment state; minimizing the novel performance index and establishing a speed layer state adjustment scheme; converting the speed layer state adjustment scheme into a quadratic optimization problem; adopting a recurrent neural network to solve the quadratic optimization problem, and outputting a solving result of the wheeled mobile robot expected adjustment state; and according to the solving result, enabling a lower computer controller to drive double wheels of a mobile platform and joints of a robot, so that the wheeled mobile robot is adjusted to the expected state. According to the method, the mobile platform and the robot can be adjusted at the same time to quickly and accurately reach the expected adjustment state, operation is convenient, the workload is small, operation is standard, and the adjustment effect is accurate and efficient.

Description

technical field [0001] The invention relates to the technical field of motion planning of a wheeled mobile robot, in particular to a method for adjusting the state of a wheeled mobile robot based on gradient descent. Background technique [0002] A wheeled mobile robot consists of a two-wheel-driven mobile platform and an n-degree-of-freedom robot. It has great flexibility and mobility, so it has a large operating space, and has been widely used in many fields, such as object handling, fire search and rescue, and space exploration. When a mobile robot performs different planning tasks in the workspace, it often needs to adjust from the current structural state to a specified / desired state after completing a task. That is, the starting state when the next task is executed. [0003] In general, adjusting the wheeled mobile robot from the current state to the desired state is carried out step by step: first adjust the state of the mobile platform, and then adjust the state of...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J5/00B25J9/16
CPCB25J5/007B25J9/1679B25J9/1661Y02T10/72
Inventor 郭东生李煊鲜刘庆平黎子豪殷海波
Owner 千翼蓝犀智能制造科技(广州)有限公司
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