Dynamic event trigger tracking control method of mobile robot and related device

Abstract

The invention discloses a dynamic event triggering tracking control method of a mobile robot and a related device, and designs an event triggering tracking control method for a crawler-type mobile robot, so that the driving speed and the steering angular speed do not need to be frequently adjusted, the mechanical wear of a motor is reduced, and the energy utilization efficiency of the robot is improved. And the requirement of field long-time-consuming tasks is met. A dynamic event trigger signal transmission scheme is constructed, a threshold value in the transmission scheme can be automatically adjusted along with speed deviation and angular speed deviation, and whether a current control signal needs to be transmitted or not can be judged; compared with the existing static scheme, the signal transmission frequency can be further reduced. Therefore, the problems that an existing crawler-type mobile robot is low in utilization rate of carried energy and large in mechanical abrasion to a motor of the existing crawler-type mobile robot are solved.

Description

Technical Field

[0001] The present invention relates to the field of robot control technology, and in particular to a dynamic event triggering tracking control method of a mobile robot and a related device. Background Art

[0002] Tracked mobile robots have low ground pressure, are less prone to slipping, have excellent traction, and are well-suited to challenging terrain. Therefore, research on tracked mobile robots is crucial for improving their efficiency. Tracked mobile robots rely on batteries for power, execute tasks via remote control and pre-programmed commands, and support remote adjustments. Equipped with a variety of sensors, such as cameras and inertial measurement units, the robots transmit real-time data such as video, position, and posture. However, due to the long distances involved in field operations and the inconvenience of charging, existing control schemes are insufficiently optimized for energy consumption during long-distance missions. Therefore, reducing energy consumption by lowering communication frequency while maintaining robot stability and performance is crucial for improving the efficiency of long-distance missions.

[0003] Existing remote control methods for tracked mobile robots mostly use continuous or periodic signal transmission. This wastes energy due to the limited energy resources the robots carry when performing tasks and the long routes they use in the field. Event-triggered control can reduce signal transmission frequency without significantly degrading robot performance, thereby reducing energy usage. Currently, research on event-triggered communication mechanisms for tracked mobile robots is limited. Therefore, the development of event-triggered communication mechanisms and corresponding control methods for tracked mobile robots is urgently needed. Summary of the Invention

[0004] The present invention provides a dynamic event trigger tracking control method and related devices for a mobile robot, which are used to solve the problems of low utilization rate of the energy carried by existing crawler-type mobile robots and large mechanical wear of their motors.

[0005] In view of this, a first aspect of the present invention provides a dynamic event-triggered tracking control method for a mobile robot, the method comprising:

[0006] S1. Calculating a real-time state value of the tracked mobile robot based on real-time speed and displacement data of the tracked mobile robot, calculating an expected value of a current cycle based on a preset expected motion trajectory, and calculating a deviation between the expected value and the real-time state value to obtain a first deviation value;

[0007] S2. Calculating a driving speed and a steering angular velocity of the crawler mobile robot according to the expected value and the first deviation value;

[0008] S3. Calculating a deviation between the driving speed and the steering angular velocity in the current cycle and the previous cycle to obtain a second deviation value, and calculating a threshold value of an event generator based on the second deviation value;

[0009] S4. Determine whether to transmit the driving speed and the steering angular velocity to the crawler mobile robot based on the threshold value and the second deviation value; if not, repeat steps S1-S4; if yes, execute step S5;

[0010] S5. Control the crawler-type mobile robot to work based on the driving speed and the steering angular velocity.

[0011] Optionally, the calculation of the deviation between the expected value and the real-time state value to obtain a first deviation value is expressed as:

[0012] ;

[0013] Where, is the deviation of the robot's X-axis position, is the deviation of the robot's Y-axis position, is the deviation of the robot's attitude angle, 、 、 is the data of the speed sensor and displacement sensor of the crawler mobile robot, is the expected coordinate in the expected value, is the expected attitude angle in the expected value.

[0014] Optionally, step S2 includes:

[0015] Calculating the driving speed and steering angular velocity of the crawler mobile robot according to the expected value and the first deviation value based on a driving speed and steering angular velocity calculation formula;

[0016] The driving speed and steering angular velocity formula is:

[0017] ;

[0018] Where, is the driving speed, is the expected driving speed, is the steering angular velocity, 、 、 is the preset control gain, is a positive constant, is the desired steering angular velocity, is the deviation of the robot's X-axis position, is the deviation of the robot's Y-axis position, is the deviation of the robot's attitude angle, 、 is the threshold parameter of the event generator.

[0019] Optionally, calculating the deviation between the driving speed and the steering angular velocity in the current cycle and the previous cycle to obtain a second deviation value includes:

[0020] Calculating the deviation between the adjustment value of the current cycle and the adjustment value of the previous cycle based on a deviation calculation formula to obtain a second deviation value;

[0021] The deviation calculation formula is:

[0022] ;

[0023] Where, is the driving speed deviation, is the steering angular velocity deviation, is the adjustment value of the driving speed, is the adjustment value of the steering angular velocity, and They are the adjustment values of the driving speed and steering angular velocity of the previous cycle respectively.

[0024] Optionally, calculating a threshold of an event generator according to the second deviation value includes:

[0025] Calculating the threshold of the event generator according to the second deviation value based on a calculation formula of the threshold of the event generator;

[0026] The calculation formula of the threshold of the event generator is:

[0027] ;

[0028] Where, and is the threshold, , , , are the upper and lower bounds of the threshold parameters of the event generator, is a positive constant, is the driving speed deviation, is the steering angular velocity deviation.

[0029] Optionally, the determining, based on the threshold value and the second deviation value, whether to transmit the driving speed and the steering angular velocity to the tracked mobile robot includes:

[0030] Substituting the threshold value and the second deviation value into a judgment condition formula, and determining whether to transmit the driving speed and the steering angular velocity to the crawler mobile robot according to the judgment condition formula;

[0031] The judgment condition formula is:

[0032] ;

[0033] Where, is the driving speed deviation, is the steering angular velocity deviation, and is the threshold.

[0034] Optionally, the determining whether to transmit the driving speed and the steering angular velocity to the tracked mobile robot by using a judgment condition formula includes:

[0035] If the judgment condition formula is satisfied, step S5 is executed, if not, steps S1 to S4 are repeated. A second aspect of the present invention provides a dynamic event trigger tracking control device for a mobile robot, the device comprising:

[0036] a first calculation unit, configured to calculate a real-time state value of the tracked mobile robot based on real-time speed and displacement data of the tracked mobile robot, calculate an expected value of a current cycle based on a preset expected motion trajectory, and calculate a deviation between the expected value and the real-time state value to obtain a first deviation value;

[0037] a second calculation unit, configured to calculate a travel speed and a steering angular velocity of the tracked mobile robot according to the expected value and the first deviation value;

[0038] a third calculating unit, configured to calculate a deviation between the driving speed and the steering angular velocity in a current cycle and a previous cycle to obtain a second deviation value, and calculate a threshold value of an event generator according to the second deviation value;

[0039] an analyzing unit, configured to determine, based on the threshold value and the second deviation value, whether to transmit the driving speed and the steering angular velocity to the crawler mobile robot; if not, repeating steps S1 to S4; and if so, executing step S5;

[0040] A control unit is used to control the crawler mobile robot to work based on the driving speed and the steering angular velocity.

[0041] A third aspect of the present invention provides a dynamic event-triggered tracking control device for a mobile robot, the device comprising a processor and a memory:

[0042] The memory is used to store program code and transmit the program code to the processor;

[0043] The processor is used to execute the steps of the dynamic event triggered tracking control method of the mobile robot as described in the first aspect according to the instructions in the program code.

[0044] A fourth aspect of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium is used to store program code, and the program code is used to execute the dynamic event triggered tracking control method of the mobile robot described in the first aspect.

[0045] It can be seen from the above technical solutions that the present invention has the following advantages:

[0046] The present invention provides a dynamic event-triggered tracking control method for a mobile robot. This method, designed for tracked mobile robots, eliminates the need for frequent adjustments to driving speed and steering angular velocity, reduces motor wear, improves the robot's energy efficiency, and meets the requirements of long-duration field missions. Furthermore, a dynamic event-triggered signal transmission scheme is constructed, in which thresholds automatically adjust based on speed and angular velocity deviations to determine whether the current control signal needs to be transmitted. Compared to existing static schemes, this scheme can further reduce signal transmission frequency. This solves the problems of existing tracked mobile robots, such as low energy utilization and significant motor wear. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0048] Figure 1 A flow chart of a dynamic event-triggered tracking control method for a mobile robot provided by an embodiment of the present invention;

[0049] Figure 2 An approximate dynamic model of a tracked mobile robot provided in an embodiment of the present invention;

[0050] Figure 3 A structural diagram of a control system provided by an embodiment of the present invention;

[0051] Figure 4 The reference trajectory and actual trajectory provided by the embodiment of the present invention;

[0052] Figure 5 Control input provided by the embodiment of the present invention;

[0053] Figure 6A dynamic threshold value provided by an embodiment of the present invention;

[0054] Figure 7 The signal release moment and release interval provided by the embodiment of the present invention;

[0055] Figure 8 A schematic structural diagram of a dynamic event-triggered tracking control device for a mobile robot provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0056] In order to make the purpose, features, and advantages of the present invention more obvious and easy to understand, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described below are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0057] It should be noted that the present invention designs a dynamic event triggered tracking control method of a mobile robot based on the kinematic model of a tracked mobile robot. Figure 2 As shown in Figure 2, the kinematic model of the tracked mobile robot is:

[0058] ;

[0059] in, , is the center of mass of the robot The coordinates in the global coordinate system, is the robot's center of mass The driving speed at The attitude angle between the positive direction of the robot's motion and the positive direction of the x-axis of the global coordinate system, is the robot's steering angular velocity, and are the speeds of the left and right tracks respectively, turning radius, is the instantaneous center of rotation, Robot body width, Track width on one side.

[0060] The control method of the present invention is described below by using a control system structure diagram in a specific implementation. Figure 3 shown.

[0061] See also Figure 1 and 3 , an embodiment of the present invention provides a dynamic event-triggered tracking control method for a mobile robot, comprising:

[0062] Step 101: Calculate the real-time state value of the tracked mobile robot based on the real-time speed and displacement data of the tracked mobile robot, calculate the expected value of the current cycle based on the preset expected motion trajectory, and calculate the deviation between the expected value and the real-time state value to obtain a first deviation value.

[0063] It should be noted that, in a specific implementation, step 101 includes:

[0064] Step 1: Initialize the controller and set the control gain , , and a positive constant ; Initialize the event generator and set the upper and lower bounds of the threshold parameters , , , and a positive constant .

[0065] It should be noted that in event-triggered control, the upper and lower bounds of dynamic threshold parameters play a crucial role in the system's communication efficiency and control performance. Reasonable threshold settings can not only effectively reduce unnecessary communication overhead, but also lower the system's energy consumption and bandwidth usage while ensuring control performance. In practical applications, the upper and lower bounds of the thresholds must also fully consider the difficulty of the robot's task. For example, for robots performing high-precision navigation tasks, the lower bound of the threshold should be appropriately lowered to ensure precise control of position and posture at a higher trigger frequency. For inspection tasks with relatively simple path planning, the upper bound of the trigger threshold can be appropriately increased to reduce sensor and communication overhead and extend the system's operating time.

[0066] Step 2: Based on the earth coordinate system OXY, set the desired motion trajectory of the crawler mobile robot.

[0067] It should be noted that the specific method for setting the desired trajectory of a tracked mobile robot is to set the coordinate positions it should reach at different time points in the geodetic coordinate system OXY, taking into account the robot's actual application scenario and task requirements. A smooth curve that meets actual work requirements is drawn through a series of continuous coordinate points. This curve is the desired trajectory of the tracked mobile robot. The setting of this trajectory must fully consider factors such as the speed limit, turning radius, and obstacle distribution during the robot's operation to ensure that the robot can operate stably and efficiently while tracking the desired trajectory, avoid abnormal situations such as sudden speed changes and collisions, and ensure the smooth operation of the robot.

[0068] Step 3: Collect data from the speed sensor and displacement sensor of the crawler mobile robot , , and transmit it to the remote control through the communication module.

[0069] Step 4: Calculate the current expected coordinates of the robot based on the expected trajectory of the tracked mobile robot. , expected steering angular velocity and the desired attitude angle .

[0070] Step 5: Calculate the deviation between the expected value and the actual state value of the robot (i.e., the first deviation value), as follows:

[0071] ;

[0072] in, is the deviation of the robot's X-axis position, is the deviation of the robot's Y-axis position, is the deviation of the robot's posture angle.

[0073] Step 102: Calculate the driving speed and steering angular velocity of the crawler mobile robot according to the expected value and the first deviation value.

[0074] It should be noted that, in a specific implementation, step 102 includes:

[0075] Step 6: Calculate and adjust the robot's driving speed based on the expected value and the deviation value (i.e., the first deviation value). and steering angular velocity , as follows:

[0076] ;

[0077] Where, is the driving speed, is the expected driving speed, is the steering angular velocity, 、 、 is the preset control gain, is a positive constant, is the desired steering angular velocity, is the deviation of the robot's X-axis position, is the deviation of the robot's Y-axis position, is the deviation of the robot's attitude angle, 、 is the threshold parameter of the event generator.

[0078] Step 103: Calculate the deviation between the driving speed and the steering angular velocity in the current cycle and the previous cycle to obtain a second deviation value, and calculate the threshold value of the event generator according to the second deviation value.

[0079] It should be noted that, in a specific implementation, step 103 includes:

[0080] Step 7: Update the latest adjustment information and Control information of the last transmission (i.e. the last cycle) and Compare and calculate the deviation value (i.e., the second deviation value) of the two signals, as shown in the following formula:

[0081] ;

[0082] Where, is the driving speed deviation, is the steering angular velocity deviation, is the adjustment value of driving speed, is the adjustment value of the steering angular velocity, and They are the adjustment values of the driving speed and steering angular velocity of the previous cycle respectively.

[0083] Step 8: Use driving speed deviation and steering angular velocity deviation Calculate the threshold of the event generator as follows:

[0084] ;

[0085] Where, and is the threshold, , , , are the upper and lower bounds of the threshold parameters of the event generator, is a positive constant, is the driving speed deviation, is the steering angular velocity deviation.

[0086] Step 104 : Determine whether to transmit the driving speed and steering angular velocity to the crawler mobile robot based on the threshold value and the second deviation value. If not, repeat steps 101 - 104 . If yes, execute step 105 .

[0087] It should be noted that, in a specific implementation, step 104 includes:

[0088] Step 9: Determine the driving speed obtained by this pre-adjustment and steering angular velocity Whether it needs to be transmitted to the robot is determined by the following conditions:

[0089] ;

[0090] Where, is the driving speed deviation, is the steering angular velocity deviation, and is the threshold.

[0091] If the conditions are met, proceed to step 11; if not, repeat steps 8 to 10.

[0092] Step 105: Control the crawler mobile robot to work based on the driving speed and the steering angular velocity.

[0093] It should be noted that, in a specific implementation, step 104 includes:

[0094] Step 10: The latest adjusted information and The information is transmitted to the crawler mobile robot through the communication module, and the robot adjusts its speed according to the instructions.

[0095] The following is a demonstration of the effectiveness of the dynamic event-triggered tracking control method for a mobile robot of the present invention.

[0096] The specific proof is as follows:

[0097] Choose a composite energy function of the following form:

[0098] ;

[0099] calculate The derivative of :

[0100] ;

[0101] Considering the judgment conditions , so there must be a constant and Belong to the interval , making and Satisfied. Based on this, the above formula can be further rewritten as:

[0102] ;

[0103] According to the hyperbolic tangent function Properties: for any constant have According to this property, the above formula can be expanded to:

[0104] ;

[0105] Therefore, the tracked mobile robot is bounded and stable under the dynamic event-triggered tracking control method designed in the present invention.

[0106] It should be noted that those skilled in the art can know that the stability of a system can generally be divided into three forms: asymptotic stability, bounded stability, and exponential stability. There are both differences and connections among these three. Bounded stability (dV / dt < c, where c is a positive constant) is a relatively loose stability condition. It means that although the state of the system may not return exactly to the equilibrium point after being perturbed, it always remains within a finite range and does not diverge infinitely. For example, like a pendulum that has been pushed, it may swing back and forth within a certain amplitude but will not swing farther and farther. Asymptotic stability (dV / dt <= 0) means that after the system is initially perturbed, its state will gradually return to the equilibrium point over time and eventually tend to be stationary. In other words, no matter how large the initial deviation is, as long as the time is long enough, the system can always return to the original stable state. This convergence occurs gradually, and the speed may be fast or slow, but it will eventually return to equilibrium. Exponential stability (dV / dt <= -aV, where a is a positive constant) is a stronger form of stability. It not only requires the system state to return to the equilibrium point but also requires the speed of this return to decay exponentially. That is, the system not only returns to equilibrium but also the return speed is very fast, and it converges more rapidly as it approaches the equilibrium point. This usually means that the system has a very strong ability to recover from external perturbations. Exponential stability, asymptotic stability, and bounded stability are in a relationship of gradually relaxing.

[0107] The following is the simulation verification description provided in the embodiments of the present invention. Please refer to Figures 4 to 7 .

[0108] From Figure 4 and Figure 5 it can be seen that the event-triggered tracking control method of the present invention effectively ensures the trajectory tracking effect of the tracked mobile robot. From Figure 6 it can be seen that the designed dynamic threshold can follow the system dynamics. From Figure 7 it can be seen that the designed dynamic event-triggering mechanism effectively reduces the communication frequency and saves energy usage.

[0109] A dynamic event-triggered tracking control method for a mobile robot provided in the embodiments of the present invention designs an event-triggered tracking control method for a tracked mobile robot, which does not require frequent adjustment of the driving speed and steering angular velocity, reduces the mechanical wear of the motor, improves the energy utilization efficiency of the robot, and meets the requirements of long-duration tasks in the wild. Moreover, a dynamic event-triggered signal transmission scheme is constructed, and the threshold in the transmission scheme can be automatically adjusted according to the speed deviation and angular velocity deviation, and can judge whether the current control signal needs to be transmitted; compared with the existing static scheme, it can further reduce the signal transmission frequency. Thus, it solves the problems that the existing tracked mobile robot has low energy utilization rate of the carried energy and large mechanical wear of its motor.

[0110] The above is a dynamic event triggering tracking control method for a mobile robot provided in an embodiment of the present invention. The following is a dynamic event triggering tracking control device for a mobile robot provided in an embodiment of the present invention.

[0111] See also Figure 8 , an embodiment of the present invention provides a dynamic event triggered tracking control device for a mobile robot, comprising:

[0112] The first calculation unit 201 is used to calculate the real-time state value of the tracked mobile robot based on the real-time speed and displacement data of the tracked mobile robot, calculate the expected value of the current cycle based on the preset expected motion trajectory, and calculate the deviation between the expected value and the real-time state value to obtain a first deviation value.

[0113] The second calculation unit 202 is used to calculate the adjustment values of the driving speed and the steering angular velocity of the crawler mobile robot according to the expected value and the first deviation value.

[0114] The third calculation unit 203 is used to obtain a second deviation value based on the deviation of the driving speed and the steering angle velocity between the current cycle and the previous cycle, and calculate the threshold value of the event generator according to the second deviation value.

[0115] The analyzing unit 204 is configured to determine whether to transmit the driving speed and the steering angular velocity to the crawler mobile robot according to the threshold value and the second deviation value. If not, steps S1 to S4 are repeated. If yes, step S5 is executed.

[0116] The control unit 205 is used to control the crawler mobile robot to work based on the driving speed and the steering angular velocity.

[0117] Furthermore, an embodiment of the present invention also provides a dynamic event trigger tracking control device for a mobile robot, the device comprising a processor and a memory:

[0118] The memory is used to store program code and transmit the program code to the processor;

[0119] The processor is configured to execute the steps of the dynamic event triggered tracking control method for a mobile robot as described in the above method embodiment according to the instructions in the program code.

[0120] Furthermore, an embodiment of the present invention also provides a computer-readable storage medium, which is used to store program code, and the program code is used to execute the dynamic event triggered tracking control method of the mobile robot described in the above method embodiment.

[0121] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0122] In the several embodiments provided by the present invention, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed can be through some interface, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0123] Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0124] In addition, the functional units in the various embodiments of the present invention may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0125] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the portion that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the various embodiments of the method of the present invention. The aforementioned storage medium includes various media that can store program code, such as USB flash drives, mobile hard drives, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical disks.

[0126] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A dynamic event-triggered tracking control method for a mobile robot, characterized in that: include: S1. Calculating a real-time state value of the tracked mobile robot based on real-time speed and displacement data of the tracked mobile robot, calculating an expected value of a current cycle based on a preset expected motion trajectory, and calculating a deviation between the expected value and the real-time state value to obtain a first deviation value; S2. Calculating a driving speed and a steering angular velocity of the crawler mobile robot according to the expected value and the first deviation value; S3. Calculating a deviation between the driving speed and the steering angular velocity in the current cycle and the previous cycle to obtain a second deviation value, and calculating a threshold value of an event generator based on the second deviation value; S4. Determine whether to transmit the driving speed and the steering angular velocity to the crawler mobile robot based on the threshold value and the second deviation value; if not, repeat steps S1-S4; if yes, execute step S5; S5. Control the crawler-type mobile robot to work based on the driving speed and the steering angular velocity.

2. The dynamic event triggered tracking control method of a mobile robot according to claim 1, characterized in that: The deviation between the expected value and the real-time state value is calculated to obtain a first deviation value, which is expressed as: ； Where, is the deviation of the robot's X-axis position, is the deviation of the robot's Y-axis position, is the deviation of the robot's attitude angle, 、 、 is the data of the speed sensor and displacement sensor of the crawler mobile robot, is the expected coordinate in the expected value, is the expected attitude angle in the expected value.

3. The dynamic event triggered tracking control method of a mobile robot according to claim 1, characterized in that: Step S2 includes: Calculating the driving speed and steering angular velocity of the crawler mobile robot according to the expected value and the first deviation value based on a driving speed and steering angular velocity calculation formula; The driving speed and steering angular velocity formula is: ； Where, is the driving speed, is the expected driving speed, is the steering angular velocity, 、 、 is the preset control gain, is a positive constant, is the desired steering angular velocity, is the deviation of the robot's X-axis position, is the deviation of the robot's Y-axis position, is the deviation of the robot's attitude angle, 、 is the threshold parameter of the event generator.

4. The dynamic event triggered tracking control method of a mobile robot according to claim 1, characterized in that: The calculating the deviation between the driving speed and the steering angular velocity in the current cycle and the previous cycle to obtain a second deviation value includes: Calculating the deviation between the adjustment value of the current cycle and the adjustment value of the previous cycle based on a deviation calculation formula to obtain a second deviation value; The deviation calculation formula is: ； Where, is the driving speed deviation, is the steering angular velocity deviation, is the adjustment value of the driving speed, is the adjustment value of the steering angular velocity, and They are the adjustment values of the driving speed and steering angular velocity of the previous cycle respectively.

5. The dynamic event triggered tracking control method of a mobile robot according to claim 1, characterized in that: Calculating a threshold value of an event generator according to the second deviation value includes: Calculating the threshold of the event generator according to the second deviation value based on a calculation formula of the threshold of the event generator; The calculation formula of the threshold of the event generator is: ； Where, and is the threshold, , , , are the upper and lower bounds of the threshold parameters of the event generator, is a positive constant, is the driving speed deviation, is the steering angular velocity deviation.

6. The dynamic event triggered tracking control method of a mobile robot according to claim 1, characterized in that: The determining, based on the threshold value and the second deviation value, whether to transmit the driving speed and the steering angular velocity to the tracked mobile robot comprises: Substituting the threshold value and the second deviation value into a judgment condition formula, and determining whether to transmit the driving speed and the steering angular velocity to the crawler mobile robot according to the judgment condition formula; The judgment condition formula is: ； Where, is the driving speed deviation, is the steering angular velocity deviation, and is the threshold.

7. The dynamic event triggered tracking control method of a mobile robot according to claim 6, characterized in that: The determining whether to transmit the driving speed and the steering angular velocity to the tracked mobile robot by using a judgment condition formula includes: If the judgment condition formula is satisfied, step S5 is executed; if not, steps S1 to S4 are repeated.

8. A dynamic event trigger tracking control device for a mobile robot, characterized in that: include: a first calculation unit, configured to calculate a real-time state value of the tracked mobile robot based on real-time speed and displacement data of the tracked mobile robot, calculate an expected value of a current cycle based on a preset expected motion trajectory, and calculate a deviation between the expected value and the real-time state value to obtain a first deviation value; a second calculation unit, configured to calculate a travel speed and a steering angular velocity of the tracked mobile robot according to the expected value and the first deviation value; a third calculating unit, configured to calculate a deviation between the driving speed and the steering angular velocity in a current cycle and a previous cycle to obtain a second deviation value, and calculate a threshold value of an event generator according to the second deviation value; an analyzing unit, configured to determine, based on the threshold value and the second deviation value, whether to transmit the driving speed and the steering angular velocity to the crawler mobile robot; if not, repeating steps S1 to S4; and if so, executing step S5; A control unit is used to control the crawler mobile robot to work based on the driving speed and the steering angular velocity.

9. A dynamic event trigger tracking control device for a mobile robot, characterized in that: The device includes a processor and a memory: The memory is used to store program code and transmit the program code to the processor; The processor is used to execute the dynamic event triggered tracking control method of the mobile robot according to any one of claims 1 to 7 according to the instructions in the program code.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium is used to store program code, and the program code is used to execute the dynamic event triggered tracking control method of the mobile robot according to any one of claims 1 to 7.

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