Unmanned mower trajectory tracking control method and computer readable storage medium
A trajectory tracking and control method technology, which is applied to computer components, calculations, harvesters, etc., to achieve the effects of improving control efficiency, reducing trajectory tracking errors, and ensuring safety
Active Publication Date: 2022-06-03
SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV
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[0009] In order to solve the existing problems, the present invention provides a trajectory tracking control method of an unmanned lawnmower and a computer-readable storage medium
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[0035] In order to make the technical problems, technical solutions and beneficial effects to be solved by the embodiments of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention.
[0036] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element. In addition, the connection can be used for both the fixing function and the circuit connection function.
[0037]It is to be understood that the terms "length", "width", "upper", "lower"...
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The invention provides an unmanned mower trajectory tracking control method and a computer readable storage medium, and the method comprises the steps: carrying out the building of a system model and the path planning of full-region coverage before the operation of an unmanned mower, and obtaining an optimal control sequence at a current moment through the optimization solution, inputting into a model prediction controller to execute a control instruction, feeding back a state quantity at a future moment based on a state quantity observation value at a current moment, and circulating in this way to realize global trajectory tracking control; a track re-planning layer suitable for the unmanned mower is added, accurate information of an operation lawn boundary of the unmanned mower is obtained based on image information processing under the condition that constraint conditions of the unmanned mower are met, a model prediction controller input quantity based on lawn boundary information is designed, obstacles in the lawn are avoided, tracking deviation is reduced, and the tracking precision is improved. And inputting the re-planned local path into a tracking control layer for tracking control, thereby improving the precision, efficiency and safety of trajectory tracking control of the unmanned mower.
Description
technical field [0001] The invention relates to the technical field of robot control, and in particular, to a trajectory tracking control method and a computer-readable storage medium of an unmanned lawn mower. Background technique [0002] At present, with the continuous increase of urban greening and private courtyard grass area, the global shipment of lawn mowers in 2020 will exceed 900,000 units, but mainly traditional manual lawn mowers. The intelligent unmanned lawn mower has attracted much attention because of its three advantages of saving manpower, high safety performance, and environmental friendliness. In order to realize intelligent unmanned lawn mowing, three modules of positioning perception, path planning and tracking control must be designed. Among them, traditional tracking The application of control algorithms to unmanned lawn mowers has the following problems, including: [0003] 1) It is difficult to establish an accurate system model: the measurement er...
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Login to View More IPC IPC(8): A01D34/00G06T7/136G06T7/13G06T5/30G06V10/762G06V10/82G06V10/56G06K9/62G06N3/04G06N3/08
CPCA01D34/006G06T7/136G06T7/13G06T5/30G06N3/08G06T2207/30188G06T2207/20084G06N3/045G06F18/23Y02T10/40
Inventor 张凯安昊董宇涵
Owner SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV