A robot dynamic path tracking method and system

By constructing nonlinear model predictive control and target cost function, the robot achieves efficient dynamic obstacle avoidance and path tracking in unknown environments, solving the problems of computational complexity and low efficiency in existing technologies.

CN119493423BActive Publication Date: 2026-03-27江淮前沿技术协同创新中心
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Filing Date
2024-11-12
Publication Date
2026-03-27

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Abstract

The application discloses a kind of robot dynamic path tracking method and system, comprising: for differential robot chassis, construct nonlinear model predictive control model;Considering the obstacle environment information around robot, construct target cost function;Adjust the control input vector in nonlinear model predictive control model, real-time tracking control is carried out to robot, the target cost function value is calculated, the control input vector corresponding when the target cost function value reaches minimum is optimal control input vector, and the optimal control input vector is used to carry out dynamic path tracking control to robot;The application has the advantages that: while realizing robot tracking path, reliable real-time obstacle avoidance is carried out, and complex path planning calculation step is not needed, and calculation process is simple, and efficiency is high.
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Citation Information

Patent Citations

  • Amphibious robot path planning control method

    CN116185018A

  • Robot dynamic obstacle avoidance method and system based on model predictive control

    CN117707161A