Distributed control method for integrated mobile robot

Abstract

The invention discloses a distributed control method for an integrated mobile robot, which disperses the centralized solution of a traditional motion controller into servo drivers of motors to form distributed control, greatly reduces the operand, improves the real-time control performance, and is not limited by the number of wheels. Aiming at the distributed control design, on the basis of traditional servo driver hardware, single wheel kinematics resolving and conventional motor servo control functions are integrated, the integrated design of the traditional motion controller and the servo driver is realized, a control driver is formed, and a wheeled mobile robot control system is formed by the control driver and the navigation unit. The three-layer control system structure of the traditional navigation unit, the motion controller and the servo driver is simplified into a two-layer structure of the navigation unit and the control driver, so that the system complexity is reduced, and the system reliability is improved; EtherCAT and CAN dual-bus redundancy communication is adopted between the navigation unit and each control driver so that the communication reliability is improved.

Description

technical field [0001] The invention relates to mobile robot control technology, in particular to an integrated mobile robot distributed control method. Background technique [0002] At present, the control implementation of the existing wheeled mobile robot is mainly based on the vehicle body motion pose trajectory given by the navigation unit, and the motion pose trajectory information of the wheeled mobile robot is transmitted to the motion controller through Ethernet, and the motion controller passes The kinematics model of the wheeled mobile robot, the target velocity vector curve of each wheel is obtained by centralized calculation, and then the target angular velocity curve of the driving motor and the target angle curve of the steering motor corresponding to the wheel are obtained, and the target angular velocity curve of the driving motor and the steering motor are obtained through EtherCAT The target angle curve command is sent to the motor servo driver. Since the...

AI Technical Summary

Problems solved by technology

Since the traditional method needs to concentrate on solving the target velocity vector curves of all wheels, the performance requirements of the motion controller CPU are high, and the power consumption of the electronic control part is relatively large, which reduces the battery life of the mobile robot. With the increase of the number of wheels, The kinematics model is more complex, and the amount of centralized calculation increases sharply, which will make it difficult to meet the control requirements, and the communication method is single. Once the communication line fails, the control of the mobile robot will fail.

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