Control method, device, storage medium and mobile robot of mobile robot

Abstract

The embodiments of the present invention provide a control method, device, storage medium and mobile robot of a mobile robot. The method of the embodiments of the present invention determines a target speed and a target angular velocity from a current position to the preview point according to the maximum centripetal acceleration of the mobile robot after determining a preview point, and controls the travel of the mobile robot according to the target speed and the target angular velocity. The method can automatically determine the lateral control amount and the longitudinal control amount, and does not require an upstream planning module to calculate the speeds of all position points on a planned path. The upstream planning module only needs to provide a planned path, which can improve the efficiency of the planning module and save resources.

Description

Technical Field

[0001] Embodiments of the present invention relate to the field of warehousing and logistics technology, and in particular, to a control method, device, storage medium and mobile robot of a mobile robot. Background Art

[0002] In the field of autonomous driving, control algorithms are used to control the driving of mobile robots in various scenarios. The pure pursuit (PP) control algorithm is a commonly used control algorithm in the field of autonomous driving.

[0003] In the process of implementing the present invention, the inventors found that there are at least the following problems in the prior art: the PP control algorithm only calculates the lateral control quantity (i.e., the angular velocity) but does not calculate the longitudinal control quantity (i.e., the speed). It is necessary to pre-plan from the planning module the speed of each position point on the planned path and the planned path. The planning of the speeds of a large number of position points occupies a large amount of resources, resulting in a waste of resources. Summary of the invention

[0004] The embodiments of the present invention provide a control method, a device, a storage medium and a mobile robot for a mobile robot, so as to solve the problem that the current PP control algorithm may cause waste of resources.

[0005] On the one hand, an embodiment of the present invention provides a control method for a mobile robot, comprising:

[0006] Determine the preview point according to the planned path;

[0007] Determining a target speed and a target angular speed from a current position to the preview point according to the maximum centripetal acceleration of the mobile robot;

[0008] According to the target speed and the target angular velocity, the mobile robot is controlled to travel along the planned path.

[0009] On the other hand, an embodiment of the present invention provides a control device for a mobile robot, comprising:

[0010] A preview point determination module is used to determine the preview point according to the planned path;

[0011] A data processing module, used to determine a target speed and a target angular speed from a current position to the preview point according to the maximum centripetal acceleration of the mobile robot;

[0012] The control execution module is used to control the mobile robot to travel along the planned path according to the target speed and the target angular velocity.

[0013] On the other hand, an embodiment of the present invention provides a mobile robot, comprising:

[0014] A processor, a memory, and a computer program stored on the memory and executable on the processor;

[0015] Wherein, the processor implements the above-mentioned control method of the mobile robot when running the computer program.

[0016] On the other hand, an embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the control method of the mobile robot described above is implemented.

[0017] The control method, device, storage medium and mobile robot of the mobile robot provided by the embodiments of the present invention can automatically determine the lateral control amount and the longitudinal control amount by determining the target speed and the target angular velocity from the current position to the preview point according to the maximum centripetal acceleration of the mobile robot after determining the preview point, and controlling the driving of the mobile robot according to the target speed and the target angular velocity from the current position to the preview point. There is no need for the upstream planning module to calculate the speeds of all position points on the planned path. The upstream planning module only needs to provide the planned path, which can save resources. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A framework diagram of a control method for a mobile robot provided by an embodiment of the present invention;

[0019] Figure 2 A flow chart of a control method for a mobile robot provided in Embodiment 1 of the present invention;

[0020] Figure 3 A flow chart of a control method for a mobile robot provided in Embodiment 2 of the present invention;

[0021] Figure 4 A schematic diagram of the distance, lateral error, and curvature between the current position and the preview point on the planned path provided by the second embodiment of the present invention;

[0022] Figure 5 A schematic diagram of the structure of a control device for a mobile robot provided in Embodiment 3 of the present invention;

[0023] Figure 6 A schematic diagram of the structure of a control device for a mobile robot provided in Embodiment 4 of the present invention;

[0024] Figure 7 This is a schematic diagram of the structure of the mobile robot provided in Embodiment 5 of the present invention.

[0025] The above drawings have shown clear embodiments of the present invention, which will be described in more detail below. These drawings and text descriptions are not intended to limit the scope of the present invention in any way, but to illustrate the concept of the present invention for those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0026] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Instead, they are merely examples of devices and methods consistent with some aspects of the present invention as detailed in the appended claims.

[0027] The terms "first", "second", etc. involved in the embodiments of the present invention are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. In the description of the following embodiments, the meaning of "multiple" is more than two, unless otherwise clearly and specifically defined.

[0028] At present, the commonly used control algorithms in the field of autonomous driving include proportional integral derivative (PID) control algorithm, model predictive control algorithm (MPC) and PP control algorithm.

[0029] Among them, the PID control algorithm needs to adjust different parameters in different control scenarios (such as turning, straight, low speed, high speed, uphill, downhill, load weight, etc.), and the process of adjusting parameters is very complicated and inefficient. The model predictive control algorithm requires a large number of parameters of the mobile robot to build its mathematical model, but some parameters are not easy to obtain and have low availability.

[0030] Compared with the PID control algorithm and the model predictive control algorithm, the PP control algorithm is a simpler and easier to implement control algorithm. It is widely used in low-speed scenarios such as indoor delivery robots and warehousing robots.

[0031] However, the PP control algorithm only calculates the lateral control quantity (i.e., angular velocity) but not the longitudinal control quantity. It is necessary to pre-plan from the planning module the planned path and the speed of each position point on the planned path. The planning of the speeds of a large number of position points takes up a lot of resources, resulting in a waste of resources.

[0032] The control method of the mobile robot provided in the embodiment of the present invention aims to solve the above technical problems of the prior art, and can be specifically applied to the control device (or control module) of the mobile robot, and the mobile robot can be a mobile robot in low-speed scenarios such as an indoor delivery robot, a storage robot, and a mapping robot in a parking lot. In addition, the mobile robot can also be in the form of a vehicle.

[0033] The general process framework of the control method of the mobile robot according to the embodiment of the present invention is as follows: Figure 1 As shown, the control (CONTROL) device obtains the planned path (path) from the upstream planning (PLANNING) module, determines the preview point according to the planned path, and automatically calculates the target speed and target angular velocity, and sends the target speed and target angular velocity to the chassis (CHASSIS) module, which controls the driving of the mobile robot according to the target speed and target angular velocity.

[0034] The following specific embodiments are used to describe in detail the technical solutions of the present invention and how the technical solutions of the present application solve the above-mentioned technical problems. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present invention will be described below in conjunction with the accompanying drawings.

[0035] Embodiment 1

[0036] Figure 2 This is a flow chart of the control method of the mobile robot provided in the first embodiment of the present invention. Figure 2 As shown, the specific steps of this method are as follows:

[0037] Step S101: Determine the preview point according to the planned path.

[0038] In this embodiment, during the automatic driving of the mobile robot, each time the mobile robot is controlled, a preview point is first determined according to the current planned path.

[0039] The process of determining the preview point can be implemented by using any method in the prior art that can determine the preview point during the automatic driving process, and this embodiment is not specifically limited here.

[0040] For example, a target position point is determined on the planned path, and a preview point with a preview distance from the target position point is determined on the planned path; or, a preview point with road traffic attributes is determined by a remote server and sent to the mobile robot, where the preview point with road traffic attributes can be the point where manual driving is most concentrated, or other key position points on the road; or, the preview point is extracted from the historical driving trajectory through clustering, and so on.

[0041] Step S102: Determine the target speed and target angular velocity from the current position to the preview point according to the maximum centripetal acceleration of the mobile robot.

[0042] In this embodiment, according to the current position, the position of the currently selected preview point, and the maximum centripetal acceleration of the mobile robot, the target speed from the current position to the preview point is automatically calculated, and the target angular velocity can be further calculated. There is no need for the upstream planning module to calculate the speed of all position points on the planning path. The upstream planning module only needs to provide the planning path, thereby improving the efficiency of the planning module; and the maximum centripetal acceleration is an inherent property of the mobile robot and is easy to obtain. After each preview point is determined, the target speed and target angular velocity from the current position to the preview point can be calculated in real time based on the maximum centripetal acceleration. In addition, the maximum centripetal acceleration is an inherent property of the mobile robot and is easy to obtain. After each preview point is determined, the target speed and target angular velocity from the current position to the preview point can be calculated in real time based on the maximum centripetal acceleration, thereby controlling the travel of the mobile robot in real time and improving the timeliness of the mobile robot control.

[0043] Step S103: Control the mobile robot to travel along the planned path according to the target speed and the target angular velocity.

[0044] After determining the target speed and target angular velocity from the current position to the preview point, the mobile robot is controlled according to the target speed and target angular velocity so that the mobile robot travels at the target speed and target angular velocity.

[0045] Exemplarily, after determining the target speed and target angular velocity from the current position to the preview point, the target speed and target angular velocity from the current position to the preview point are sent to the chassis module, so that the chassis module controls the driving of the mobile robot according to the target speed and target angular velocity until the next adjustment of the target speed and target angular velocity.

[0046] Exemplarily, after determining the target speed and target angular velocity from the current position to the preview point, a control instruction including the target speed is sent to the speed control device of the mobile robot according to the target speed, and the speed control device is controlled to adjust the travel speed of the mobile robot according to the target speed, so that the mobile robot travels at the target speed. According to the target angular velocity, a control instruction including the target angular velocity is sent to the steering device of the mobile robot, and the steering device (e.g., steering wheel) is controlled to adjust the steering angle of the steering device according to the target angular velocity to control the travel direction of the mobile robot, so that the mobile robot travels along the planned path.

[0047] For example, after determining the target speed and target angular velocity from the current position to the preview point, the determined target angular velocity can be used as the steering wheel rotation angle, and the throttle control amount or the brake control amount can be determined according to the target speed. Then, the steering wheel rotation angle and the throttle control amount or the brake control amount can be transmitted to the actuator via the CAN (Controller Area Network) bus, and the actuator rotates the steering wheel based on the steering wheel rotation angle, adjusts the throttle opening based on the throttle control amount, or adjusts the brake opening based on the brake control amount, to control the driving of the autonomous driving vehicle.

[0048] The embodiment of the present invention determines the target speed and target angular velocity from the current position to the preview point according to the maximum centripetal acceleration of the mobile robot after determining the preview point, and controls the travel of the mobile robot according to the target speed and target angular velocity from the current position to the preview point. The lateral control amount and the longitudinal control amount can be automatically determined, and there is no need for an upstream planning module to calculate the speeds of all position points on the planned path. The upstream planning module only needs to provide the planned path, thereby saving resources.

[0049] Embodiment 2

[0050] Figure 3 A flow chart of a control method for a mobile robot provided in Embodiment 2 of the present invention; Figure 4 A schematic diagram of the relationship between the distance between the current position and the preview point on the planned path, the lateral error, and the curvature provided in the second embodiment of the present invention. Based on the above-mentioned first embodiment, in this embodiment, the lateral error from the current position to the preview point is determined according to the current orientation and current position of the mobile robot, as well as the position of the preview point; the curvature from the current position to the preview point is determined according to the lateral error and the distance from the current position to the preview point; the target speed is determined according to the curvature and the maximum centripetal acceleration. The target angular velocity is determined according to the curvature and the target speed.

[0051] like Figure 3 As shown, the specific steps of this method are as follows:

[0052] Step S201: Obtain a planned path from a planning module.

[0053] In this embodiment, the control device of the mobile robot obtains the planned path from the upstream planning module.

[0054] The planning module only needs to have the function of path planning, and can be implemented by using the path planning module in the planning module that the PP control algorithm relies on.

[0055] In another implementation of this embodiment, the planned path may also be obtained from other devices such as remote servers that can provide the planned path, which is not specifically limited here.

[0056] Step S202: According to the control frequency, at intervals of a certain period of time, a preview point on the planned path is determined according to the current position and the preview distance.

[0057] In actual applications, the control device of the mobile robot controls the movement of the mobile robot at a certain control frequency. The control frequency can be configured and adjusted according to the actual application scenario of the mobile robot, and this embodiment does not make any specific limitation here.

[0058] In this embodiment, according to the control frequency of the mobile robot, a preview point on the planned path is determined at intervals, and then the target speed and target angular velocity from the current position to the preview point are determined, and the mobile robot is controlled to travel along the planned path according to the target speed and target angular velocity.

[0059] In this step, a position point on the planned path whose driving distance from the current position is equal to the preview distance can be confirmed as a preview point.

[0060] Optionally, the current preview distance can be determined based on the position of the preview point and the driving state of the vehicle (such as the current vehicle speed, etc.); or, the preview distance can be determined based on the curvature of the path ahead; or, the preview distance can be determined based on the current vehicle speed and the curvature of the planned path; or, a fixed preview distance can be set according to the specific driving location of the mobile robot (such as indoors); or the preview distance can be set in other ways, which are not specifically limited in this embodiment.

[0061] Step S203: determine the curvature from the current position to the preview point.

[0062] In an optional implementation, the lateral error from the current position to the preview point is determined based on the current orientation and current position of the mobile robot and the position of the preview point; the curvature from the current position to the preview point is determined based on the lateral error and the distance from the current position to the preview point.

[0063] Specifically, according to the current orientation, current position, and position of the preview point of the mobile robot, the lateral error from the current position to the preview point can be determined using the following formula 1:

[0064] e=Δy*cos(car heading )-Δx*sin(car heading ) Formula 1

[0065] Where e represents the lateral error from the current position to the preview point (e.g. Figure 4 As shown in e), car heading Indicates the current orientation angle of the mobile robot, using (car x , car y) represents the coordinates of the current position of the mobile robot, and (px, py) represents the position coordinates of the preview point, then Δx = px-car x , Δy=py-car y .

[0066] Furthermore, the following formula 2 can be used to determine the curvature from the current position to the preview point according to the lateral error from the current position to the preview point and the distance from the current position to the preview point:

[0067]

[0068] Among them, k represents the curvature from the current position to the preview point, e represents the lateral error from the current position to the preview point, and d represents the distance from the current position to the preview point (such as Figure 4 d) shown in

[0069] In addition, in other implementations of this embodiment, a sampling point can be extracted from the path between the current position and the preview point, and the curvature can be determined based on the arc formed by the current position, the sampling point and the preview point; or any other method that can determine the curvature of a certain path (or road) can be used, which is not specifically limited in this embodiment.

[0070] Step S204: Determine the target speed from the current position to the preview point based on the curvature and the maximum centripetal acceleration from the current position to the preview point.

[0071] In this embodiment, before determining the target speed, it is necessary to obtain the maximum centripetal acceleration of the mobile robot.

[0072] In this step, the target speed from the current position to the preview point is determined by using the following formula 3 based on the curvature from the current position to the preview point and the maximum centripetal acceleration of the mobile robot:

[0073]

[0074] Where v represents the target speed from the current position to the preview point, and k represents the curvature from the current position to the preview point ( Figure 4 1 / k is the radius corresponding to the curvature k), and max_centripetal_acceleration represents the maximum centripetal acceleration of the mobile robot.

[0075] In this embodiment, the curvature from the current position to the preview point can be determined based on the current orientation and current position of the mobile robot, as well as the position of the preview point. Further, based on the curvature from the current position to the preview point and the maximum centripetal acceleration of the mobile robot, the target speed from the current position to the preview point can be quickly determined. There is no need to pre-plan the speed of each position point on the planned path, thereby improving efficiency.

[0076] Step S205: Determine the target angular velocity from the current position to the preview point based on the curvature and the target velocity from the current position to the preview point.

[0077] In this embodiment, after determining the curvature from the current position to the preview point and the target speed from the current position to the preview point, the target angular speed from the current position to the preview point can be determined by using the following formula 4:

[0078] ω=v*k Formula 4

[0079] Among them, ω represents the target angular velocity from the current position to the preview point, v represents the target velocity from the current position to the preview point, and k represents the curvature from the current position to the preview point.

[0080] Step S206: Send the target speed and target angular velocity from the current position to the preview point to the chassis module, and control the chassis module to control the driving of the mobile robot according to the target speed and target angular velocity.

[0081] After determining the target speed and target angular velocity from the current position to the preview point, the target speed and target angular velocity from the current position to the preview point are sent to the chassis module, so that the chassis module controls the driving of the mobile robot according to the target speed and target angular velocity until the next adjustment of the target speed and target angular velocity.

[0082] The embodiment of the present invention determines the lateral error from the current position to the preview point according to the current orientation and current position of the mobile robot and the position of the preview point; determines the curvature from the current position to the preview point according to the lateral error and the distance from the current position to the preview point; determines the target speed from the current position to the preview point according to the curvature and the maximum centripetal acceleration from the current position to the preview point, and can quickly determine the target speed without pre-planning the speed of each position point on the planned path; then determines the target angular speed from the current position to the preview point according to the curvature and the target speed from the current position to the preview point, and determines the target angular speed from the current position to the preview point according to the curvature and the target speed from the current position to the preview point The target speed and target angular velocity are used to control the driving of the mobile robot, and the lateral control amount and the longitudinal control amount can be automatically determined. There is no need for the upstream planning module to calculate the speeds of all position points on the planned path. The upstream planning module only needs to provide the planned path, which saves resources and improves the efficiency of the planning module. Moreover, the maximum centripetal acceleration is an inherent property of the mobile robot and is easy to obtain. After each preview point is determined, the target speed and target angular velocity from the current position to the preview point can be calculated in real time based on the maximum centripetal acceleration, so that the driving of the mobile robot can be controlled in real time, thereby improving the timeliness of the mobile robot control.

[0083] Embodiment 3

[0084] Figure 5 This is a schematic diagram of the structure of the control device of the mobile robot provided in the third embodiment of the present invention. The control device of the mobile robot provided in the embodiment of the present invention can execute the processing flow provided in the control method embodiment of the mobile robot. Figure 3 As shown, the control device 30 of the mobile robot includes: a preview point determination module 301, a data processing module 302 and a control execution module 303.

[0085] Specifically, the preview point determination module 301 is used to determine the preview point according to the planned path.

[0086] The data processing module 302 is used to determine the target speed and target angular speed from the current position to the preview point according to the maximum centripetal acceleration of the mobile robot.

[0087] The control execution module 303 is used to control the mobile robot to travel along the planned path according to the target speed and the target angular velocity.

[0088] The device provided in the embodiment of the present invention can be specifically used to execute the method embodiment provided in the above-mentioned embodiment 1, and the specific functions will not be repeated here.

[0089] The embodiment of the present invention determines the target speed and target angular velocity from the current position to the preview point according to the maximum centripetal acceleration of the mobile robot after determining the preview point, and controls the travel of the mobile robot according to the target speed and target angular velocity from the current position to the preview point. The lateral control amount and the longitudinal control amount can be automatically determined, and there is no need for an upstream planning module to calculate the speeds of all position points on the planned path. The upstream planning module only needs to provide the planned path, which can save resources.

[0090] Embodiment 4

[0091] Figure 6 This is a schematic diagram of the structure of the control device of the mobile robot provided in the fourth embodiment of the present invention. Based on the above third embodiment, in this embodiment, the data processing module is further used for:

[0092] Determine the curvature from the current position to the preview point; determine the target speed based on the curvature and the maximum centripetal acceleration; determine the target angular velocity based on the curvature and the target speed.

[0093] In an optional implementation manner, the data processing module is further used for:

[0094] According to the current orientation and current position of the mobile robot and the position of the preview point, determine the lateral error from the current position to the preview point;

[0095] Determine the curvature from the current position to the preview point based on the lateral error and the distance from the current position to the preview point.

[0096] In an optional implementation manner, the preview point determination module is further used for:

[0097] Determine the preview point on the planned path based on the current position and preview distance.

[0098] In an alternative embodiment, Figure 6 As shown, the control device 30 of the mobile robot also includes:

[0099] The data acquisition module 304 is used to obtain the maximum centripetal acceleration of the mobile robot.

[0100] In an optional implementation, the data acquisition module 304 is further used to: acquire a planned path from a planning module.

[0101] In an optional implementation, the preview point determination module is further configured to determine the preview point on the planned path at intervals according to the control frequency.

[0102] In an optional implementation manner, the control execution module is further used to:

[0103] The target speed and the target angular velocity are sent to the chassis module, and the chassis module is controlled to control the driving of the mobile robot according to the target speed and the target angular velocity.

[0104] The device provided in the embodiment of the present invention can be specifically used to execute the method embodiment provided in the above-mentioned embodiment 2, and the specific functions will not be repeated here.

[0105] The embodiment of the present invention determines the lateral error from the current position to the preview point according to the current orientation and current position of the mobile robot and the position of the preview point; determines the curvature from the current position to the preview point according to the lateral error and the distance from the current position to the preview point; determines the target speed from the current position to the preview point according to the curvature and the maximum centripetal acceleration from the current position to the preview point, and can quickly determine the target speed without pre-planning the speed of each position point on the planned path; then determines the target angular speed from the current position to the preview point according to the curvature and the target speed from the current position to the preview point, and determines the target angular speed from the current position to the preview point according to the curvature and the target speed from the current position to the preview point The target speed and target angular velocity are used to control the driving of the mobile robot, and the lateral control amount and the longitudinal control amount can be automatically determined. There is no need for the upstream planning module to calculate the speeds of all position points on the planned path. The upstream planning module only needs to provide the planned path, which can save resources and improve the efficiency of the planning module. The maximum centripetal acceleration is an inherent property of the mobile robot and is easy to obtain. After each preview point is determined, the target speed and target angular velocity from the current position to the preview point can be calculated in real time based on the maximum centripetal acceleration, so that the driving of the mobile robot can be controlled in real time, thereby improving the timeliness of the mobile robot control.

[0106] Embodiment 5

[0107] Figure 7 This is a schematic diagram of the structure of a mobile robot provided in Embodiment 5 of the present invention. Figure 7 As shown, the device 100 includes: a processor 1001 , a memory 1002 , and a computer program stored in the memory 1002 and executable on the processor 1001 .

[0108] Among them, when the processor 1001 runs the computer program, it implements the control method of the mobile robot provided by any of the above method embodiments.

[0109] The embodiment of the present invention determines the target speed and target angular velocity from the current position to the preview point according to the maximum centripetal acceleration of the mobile robot after determining the preview point, and controls the travel of the mobile robot according to the target speed and target angular velocity from the current position to the preview point. The embodiment of the present invention can automatically determine the lateral control amount and the longitudinal control amount, and there is no need for the upstream planning module to calculate the speeds of all position points on the planning path. The upstream planning module only needs to provide the planning path, which can save resources and improve the efficiency of the planning module. In addition, the maximum centripetal acceleration is an inherent property of the mobile robot and is easy to obtain. After each preview point is determined, the target speed and target angular velocity from the current position to the preview point can be calculated in real time based on the maximum centripetal acceleration, so that the travel of the mobile robot can be controlled in real time, thereby improving the timeliness of the control of the mobile robot.

[0110] In addition, an embodiment of the present invention further provides a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, the control method of the mobile robot provided by any of the above method embodiments is implemented.

[0111] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example for illustration. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the device described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0112] Those skilled in the art will readily appreciate other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses or adaptations of the present invention that follow the general principles of the present invention and include common knowledge or customary techniques in the art that are not disclosed by the present invention. The description and examples are to be considered exemplary only, and the true scope and spirit of the present invention is indicated by the following claims.

[0113] It should be understood that the present invention is not limited to the exact construction that has been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A control method for a mobile robot, characterized in that: include: Determine the preview point according to the planned path; Determining the curvature from the current position to the preview point; After each preview point is determined, a target speed from the current position to the preview point is determined based on the curvature and the maximum centripetal acceleration; Determine the target angular velocity from the current position to the preview point according to the curvature and the target velocity; According to the target speed and the target angular velocity, the mobile robot is controlled to travel along the planned path until the target speed and the target angular velocity are adjusted next time; The determining of the curvature from the current position to the preview point comprises: Determine a lateral error from the current position to the preview point according to the current orientation and current position of the mobile robot and the position of the preview point; The curvature from the current position to the preview point is determined according to the lateral error and the distance from the current position to the preview point.

2. The method according to claim 1, characterized in that Determining the preview point according to the planned path includes: According to the current position and the preview distance, the preview point on the planned path is determined.

3. The method according to claim 1, characterized in that Before determining the target speed and the target angular speed from the current position to the preview point according to the maximum centripetal acceleration of the mobile robot, the method further includes: Obtain the maximum centripetal acceleration of the mobile robot.

4. The method according to claim 1, characterized in that: Before determining the preview point according to the planned path, the method further includes: The planned path is obtained from a planning module.

5. The method according to any one of claims 1 to 4, characterized in that Also includes: According to the control frequency, at intervals of time, a preview point on the planned path is determined, a target speed and a target angular velocity from a current position to the preview point are determined, and the mobile robot is controlled to travel along the planned path according to the target speed and the target angular velocity.

6. The method according to any one of claims 1 to 4, characterized in that The step of controlling the mobile robot to travel along the planned path according to the target speed and the target angular velocity comprises: The target speed and the target angular velocity are sent to a chassis module, and the chassis module is controlled to control the movement of the mobile robot according to the target speed and the target angular velocity.

7. A control device for a mobile robot, characterized in that: include: A preview point determination module is used to determine the preview point according to the planned path; A data processing module, used to determine the curvature from the current position to the preview point; After each preview point is determined, a target speed from the current position to the preview point is determined according to the curvature and the maximum centripetal acceleration; and a target angular speed from the current position to the preview point is determined according to the curvature and the target speed; A control execution module, used for controlling the mobile robot to travel along the planned path according to the target speed and the target angular velocity; The data processing module is specifically used to determine the lateral error from the current position to the preview point according to the current orientation and current position of the mobile robot and the position of the preview point; The curvature from the current position to the preview point is determined according to the lateral error and the distance from the current position to the preview point.

8. A mobile robot, characterized in that: include: A processor, a memory, and a computer program stored on the memory and executable on the processor; Wherein, when the processor runs the computer program, the method according to any one of claims 1 to 6 is implemented.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

10. A computer program product, comprising a computer program, which, when executed by a processor, implements the method according to any one of claims 1 to 6.

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