45 results about "Wheel mobile robot" patented technology

The invention belongs to the field of robot control, and particularly relates to a reinforcement learning tracking control method of a mobile robot based on event triggering, and the method employs an Actor-Critic synchronous learning algorithm to solve an optimal control strategy, employs interaction data to carry out strategy iteration updating, and introduces an event triggering mechanism. The controller updates the control signal only when the trigger threshold value is met; based on the optimal control theory, the consistent final bounded stability of the four-Mecanum-wheel mobile robot system is analyzed, and the reinforcement learning tracking control method of the four-Mecanum-wheel mobile robot based on event triggering is completed. According to the invention, the trajectory tracking problem of the mobile robot when external disturbances such as sliding exist is solved, and the trajectory tracking precision is ensured under the condition that the calculation burden is effectively reduced.

The invention discloses a robust trajectory tracking control method for a wheeled mobile robot in finite time, belongs to the technical field of robots, and aims to solve the problems that the wheeled mobile robot is inevitably influenced by model uncertainty and external disturbance in a task execution process due to a complex working environment, and the robot is difficult to track. The design difficulty of a wheeled mobile robot control system is greatly increased due to the factors. The method comprises the following steps: 1, establishing kinematics and dynamics models of a wheeled mobile robot; the invention discloses a wheeled mobile robot finite time robust trajectory tracking control method based on a nonlinear extended state observer, and the method consists of a kinematics controller and a dynamics controller, the kinematics controller can guarantee that the position and attitude tracking error of a wheeled mobile robot is gradually converged to zero, and the kinematics controller can guarantee that the position and attitude tracking error of the wheeled mobile robot is gradually converged to zero. The dynamic controller can ensure that the speed and angular speed tracking errors of the wheeled mobile robot converge to zero within finite time.

The invention discloses an event-triggered adaptive trajectory tracking control method for a wheeled mobile robot, belongs to the technical field of robots, and aims to solve the problem that the conventional control method assumes that the wheeled mobile robot periodically transmits a control instruction to an execution mechanism in the trajectory tracking process, so that the trajectory tracking accuracy is poor. In order to solve the problem that the sampling time interval of the wheeled mobile robot is usually set to be smaller so as to obtain higher control precision, but the information transmission burden of the wheeled mobile robot is also greatly increased, the method comprises the following steps of: solving the problem that the information transmission burden of the wheeled mobile robot is greatly increased; according to the event-triggered adaptive trajectory tracking control method for the wheeled mobile robot, a kinematics controller and a dynamics controller are included, the kinematics controller can ensure that the position and posture tracking error of the wheeled mobile robot is gradually converged to zero, and the kinematics controller can ensure that the position and posture tracking error of the wheeled mobile robot is gradually converged to zero; the dynamic controller can ensure that the speed and angular speed tracking errors of the wheeled mobile robot converge to be in a neighborhood of zero within fixed time and effectively avoid the occurrence of a sesame phenomenon.

The invention discloses a safety control method of a high-order chain type multi-agent system under spoofing attack, and belongs to the technical field of safety control of multi-agent systems. The method comprises the following steps: establishing a dynamic model of a high-order chain type multi-agent system; constructing an extreme attack scene in which all communication links are subjected to bounded spoofing attacks; based on a backstepping control method, a distributed fixed time security control protocol is designed for a system, and the protocol counteracts attack influence by designing a virtual control strategy and a Lyapunov function; a Lyapunov stability theory is utilized to prove that under the action of the protocol, a system tracking error can be converged to zero within fixed time, so that safe and consistent tracking is realized. The defect that the prior art mainly aims at a linear system or only can realize asymptotic convergence is overcome, the method is particularly suitable for scenes such as non-complete constraint wheeled mobile robots, and the robustness and the rapid recovery capability of the system under extreme spoofing attacks are effectively improved.

The present application belongs to the technical field of trajectory tracking control of nonholonomic wheeled mobile robots, and specifically discloses a trajectory tracking control method and system for nonholonomic wheeled mobile robots. In the trajectory tracking process of the nonholonomic wheeled mobile robot, the present application method converges the position tracking error and the attitude tracking error to an arbitrarily small compact set near the origin within a limited time through steps such as designing an adaptive neural state observer, a finite-time command filter, an error compensation mechanism, a virtual control input, and an actual control signal. The present application not only avoids the calculation complexity explosion problem caused by repeated derivation of the virtual control signal in the traditional backstepping method, but also guarantees that the trajectory tracking error of the nonholonomic wheeled mobile robot converges to an arbitrarily small neighborhood within a limited time under the conditions of unknown nonlinear dynamics and unmeasurable speed, and all signals in the closed-loop system are ultimately bounded.

The present invention discloses a finite-time tracking control method applicable to lane-changing warning of a four-wheel mobile robot, constructs a dynamic model of the four-wheel mobile robot; constructs a minimum-distance warning model according to the dynamic model, and uses the machine learning GMM-HMM method, combined with the minimum-distance warning model, to obtain a lane-changing warning safety algorithm for the four-wheel mobile robot, realizing safety warning during the lane-changing process of the mobile four-wheel mobile robot; constructs a finite-time controller for the four-wheel mobile robot with time-varying constraints; determines whether there is danger in lane-changing according to the lane-changing warning safety algorithm of the four-wheel mobile robot, and if so, executes the finite-time controller, and realizes the finite-time stability of the four-wheel mobile robot under this finite-time controller. The present invention realizes that both the sideslip angle of the center of mass and the yaw angular velocity can be constrained in a stable interval during the lane-changing process of the four-wheel mobile robot, and the tracking error of the finite-time controller will not break through the time-varying constraints.

The invention provides a multi-steering-wheel robot motion chassis rudder angle compensation calibration method and system, and the method comprises the steps: controlling a chassis to sequentially execute calibration actions in a segmented manner, and collecting the wheel rotating speed, the rudder angle and the chassis positioning pose of each steering wheel i at the n moment of each stage; according to the installation position and the wheel diameter of each steering wheel, calculating the relative pose change of the chassis at the moment before and after the calibration action of each stage is executed so as to determine a corresponding rudder angle compensation value; compensating the rudder angles of the steering wheels, sequentially executing the calibration actions in sections again, and respectively calculating the position offset between the front calibration action and the rear calibration action so as to determine the compensation value of the rudder angles of all the steering wheels of the rear calibration action; and compensating the lower rudder angle of each steering wheel when the chassis moves according to a constructed steering wheel difference compensator. Therefore, the applicability of the multi-steering-wheel mobile robot in a complex high-precision scene is improved.

The application discloses a preset time control method and system for a wheeled mobile robot under multiple disturbances, and comprises the following steps: establishing a nonlinear motion model of a wheeled mobile robot under matched and unmatched disturbances; designing a preset time adjustment function to regulate and control the dynamic evolution process of system errors; designing a kinematic disturbance observer and a dynamic disturbance observer to online estimate the matched and unmatched disturbances; and constructing a kinematic controller, a filter and a dynamic controller according to the disturbance estimation information, so as to realize robust preset time tracking control of the wheeled mobile robot on a reference trajectory. The method provided by the application can guarantee the convergence of system errors within a preset time without relying on the ideal no-slip assumption, has the advantages of adjustable convergence time, continuous and smooth control input, strong anti-interference ability and high engineering realizability, and improves the anti-interference performance of the robot in a complex dynamic environment and the reliability of a time-sensitive task.

The invention provides a preset-time adaptive fuzzy control method for an incomplete wheeled mobile robot system, and the method guarantees that a tracking error is converged to a preset set within preset time through the design of a performance function, a time-varying gain function and an auxiliary system, meets the steady-state and transient-state performance indexes of the system, and does not violate preset constraints. When the actuator is saturated, the established auxiliary system can generate a compensation signal in real time, so that the input signal is prevented from being too large to maintain the stability of the system; besides, fuzzy logic is utilized to approach model uncertainty of the incomplete wheeled mobile robot system, a nonlinear interference observer is designed to estimate composite time-varying interference, and robustness and anti-interference performance of the system are improved. In addition, the fault of the time-varying actuator of the incomplete wheeled mobile robot system is processed by adopting fuzzy logic and self-adaptive control, so that the system has better fault-tolerant capability.

The application provides a safety prediction control method for anti-interference and trigger obstacle avoidance of a wheeled mobile robot, and relates to the technical field of automatic control. The method mainly comprises the following steps: a kinematics model of a four-wheel independent steering and four-wheel independent driving mobile robot is established, and a linear time-varying model is converted; a bounded error disturbance observer is designed to observe the external interference of the robot, an upper bound of an observation error is obtained, and an input-to-state safety control barrier function obstacle avoidance constraint condition is established based on the disturbance observation value and the error upper bound; a distance trigger obstacle avoidance mechanism is constructed according to current state information and the distance to an obstacle; and a safety prediction controller is designed, and the distance trigger mechanism and the obstacle avoidance constraint condition are introduced into the solving process of the optimization control problem. The safety prediction control method provided by the application is helpful to improve the adaptability and robustness of the control system to interference, so that the robot can still maintain a stable operating state when facing various uncertain external interferences.

The invention discloses a wheeled mobile robot path planning method integrating an improved A * algorithm and an enhanced DWA algorithm, and belongs to the technical field of mobile robot autonomous navigation. Firstly, in a global planning layer, based on a robot kinematics model, an A * algorithm is improved, and an adaptive weight heuristic function, a direction priority expansion strategy, an obstacle sensing node selection mechanism and a path smoothing post-processing method based on sight line detection are introduced. Then, in a local planning layer, an enhanced DWA algorithm is provided, and a look-ahead point from a global path is introduced as a local planning target to guide the robot to advance along a global optimal path. The problems that a traditional A * algorithm is low in search efficiency and insufficient in path smoothness and a traditional DWA algorithm is prone to falling into a local minimum value can be solved, the method is superior to a traditional method in the aspects of search efficiency, path smoothness, obstacle avoidance capacity and real-time performance, efficient, safe and stable navigation of the mobile robot in a complex environment can be achieved, and the method is suitable for popularization and application. And the method has high engineering application value.

The invention discloses a four-Mecanum-wheel mobile robot fixed time path tracking control method based on a sliding mode, and relates to the technical field of control. Aiming at the problems of parameter uncertainty, external disturbance and the like in a four-Mecanum wheel mobile robot system, the method combines neural network compensation and a sliding mode control technology to construct a fixed time sliding mode controller based on a neural network: establishing a system kinematics and dynamics fusion model containing the parameter uncertainty and the external disturbance; designing a novel fast nonsingular terminal sliding mode surface; a radial basis function neural network is adopted to approach system coupling uncertainty in real time, a controller is designed in combination with an adaptive updating law and a smooth sign function, high-precision path tracking is achieved, and buffeting is effectively restrained. According to the control method provided by the invention, rapid convergence of tracking errors of the four-Mecanum-wheel mobile robot can be realized, and the method has high robustness, high tracking precision and a good buffeting suppression effect.

The application relates to a path planning method for a deformable wheeled mobile robot. The method is based on an ESDF map, abstracts the deformable wheeled mobile robot into a geometric model, searches an initial path of the robot through a hybrid A* algorithm, performs branch collision of the hybrid A* algorithm through incremental collision detection, then converts the initial path into a B-spline curve containing position and deformation degree information of the robot over time through fitting, and then calculates motion feasibility between control points of the optimized B-spline curve, motion smoothness and distance information of the geometric model to obstacles. The application aims to provide a smoother and safer path for the deformable wheeled mobile robot, lightens the search process, and enables the robot to quickly complete a path planning task in an unknown map.

The application discloses a control method of an under-actuated two-wheel mobile robot based on constraint following, and the method comprises the following steps: a dynamics model of the under-actuated two-wheel mobile robot is established based on a Lagrange modeling method; a motion control problem of the under-actuated two-wheel mobile robot is expressed as a constraint following control problem, a constraint mathematical model is established according to expected control performance, and the constraint mathematical model is expressed in the form of servo constraint; the servo constraint is analyzed, a first-order or second-order servo constraint is obtained, and a controller not considering initial constraint deviation is designed; based on the controller not considering initial constraint deviation, an additional control action is added to process possible initial constraint deviation, a robust controller is designed, and a robust control strategy is constituted; and the complete constraint and non-complete constraint control design is constituted by taking the constraint following as a guide. The application can solve the under-actuated control design problem of the two-wheel mobile robot, the control design does not need auxiliary variables or pseudo variables, and the control efficiency and control precision are improved.

The present invention discloses a virtual reference trajectory tracking control method for a wheeled mobile robot against sliding interference. First, a global rectangular coordinate system is established in the motion plane of the mobile robot, and then the odometer kinematic model and the actual kinematic model of the wheeled mobile robot are respectively described, and the kinematic model of the desired trajectory is given; then, based on the difference between the odometer pose and the actual pose of the wheeled mobile robot, the sliding interference of the wheeled mobile robot is estimated by using a tracking differentiator; then, the estimated value of the sliding interference is fused with the reference trajectory to obtain a virtual reference trajectory; finally, a controller is designed and the control parameters are adjusted to make the odometer pose of the wheeled mobile robot track the virtual reference trajectory, so that the actual pose of the wheeled mobile robot tracks the reference trajectory. The present invention has a simple form and strong practicability, and can effectively achieve accurate tracking of the reference trajectory by the wheeled mobile robot under the condition of sliding interference, and has a very broad engineering application prospect.

The application belongs to the field of wheeled mobile robot state estimation, and discloses a wheel slip rate prediction method for a wheeled mobile robot based on deep learning, which solves the problems of insufficient prediction accuracy caused by the inability of real-time sensor measurement to predict in advance and the complexity of wheel-ground interaction. The specific method is as follows: firstly, a wheel slip rate data set of related motion data of the wheeled mobile robot is constructed; then, the network layers and structure of the CNN-LSTM are optimized and improved to efficiently extract information and capture features; in addition, a hidden state enhancement module is designed to strengthen the update of the hidden state, and an improved attention mechanism module is designed to dynamically adjust the input feature weight and highlight the most important features; finally, a compound loss function considering mechanical constraints is designed to train the model, and the trained model is verified and performance evaluated. The application enables the wheeled mobile robot to have good adaptability on different terrains and improves the accuracy and stability of the wheel slip rate prediction.

The invention relates to control of an omni-directional wheel type mobile robot, in particular to an omni-directional wheel rehabilitation robot tracking control method capable of restraining shaking in the movement rotation direction. The system tracking precision, the training comfort and the overall performance can be improved. Comprising the following steps: S1, based on the structural characteristics of an omnidirectional wheel, establishing a grounding characteristic model including periodic change of a force arm caused by contact point switching of a driven wheel, so as to obtain a robot system kinetic equation; s2, constructing a nonlinear interference observer without acceleration feedback; s3, an integral high-order sliding mode control method is adopted, the system is decomposed into a plurality of subsystems through a backstepping method, and a tracking controller is designed for the robot system; s4, motor state information is collected in real time through the embedded controller, a control signal is generated through the nonlinear disturbance observer and the tracking controller, and the omni-directional wheel rehabilitation robot is driven to achieve trajectory tracking.

The application provides a path planning optimization method for a deformable mobile robot, and specifically comprises the following steps: step S1: simplifying an indoor three-dimensional complex environment into a two-dimensional grid map with gray value information according to a limit state allowing a single-degree-of-freedom deformable wheeled mobile robot to pass, and the color of the grid map corresponds to different obstacle types; step S2: searching nodes by taking the ideal minimum three-dimensional size of the single-degree-of-freedom deformable wheeled mobile robot as a judgment basis, searching a path based on an improved A* algorithm, and obtaining deformable points before and after an obstacle passed by the path; step S3: taking the deformable points as a sub-start point and a sub-end point, searching a path based on the improved A* algorithm, thereby obtaining a sub-path, replacing a corresponding part in the original path with the sub-path, and obtaining a path composed of multiple sub-paths with different z-axis coordinates; step S4: eliminating redundant nodes for each sub-path; and step S5: classifying and optimizing corners in the path by using a B-spline curve.

The application discloses a kind of redundancy drive multi-mode six-wheel mobile robot and inspection device, it is related to robot technical field.The present application includes at least three groups of mobile units, and multiple mobile units are overall arranged in circumferential array, first connecting rod is installed between adjacent two mobile units, and the two ends of the connecting rod are respectively rotationally connected at the tail of previous mobile unit and the head of following mobile unit;The mobile unit includes second connecting rod rotationally connected on the first connecting rod, and the two ends of the second connecting rod are respectively provided with first roller and second roller.The present application realizes the switching of robot in three modes of moving steering, step crossing and pipeline climbing by the mode of three configurations switching motor synchronous driving, and cooperates with the steering function of bogie, first roller and second roller, and also has more flexible moving ability in three modes, such as moving steering, in-place steering, multi-direction step obstacle crossing, pipeline climbing and climbing steering.

This invention discloses a control method for a Mecanar wheel mobile robot based on adaptive gain, including: S10, sensors acquiring motion parameters of the Mecanar wheel mobile robot; S20, the main controller calculating the error between the desired pose and the actual pose; S30, updating the values ​​of sliding mode variables; and S40, updating the output of the sliding mode controller. This invention consolidates the uncertainties and related disturbances in the system parameters during modeling, making the modeling more accurate and complete. It introduces adaptive parameters, eliminating the need to know the upper bound of the disturbances, adjusting the controller output gain according to the system state, and providing a solution for actuator saturation to achieve better control performance.

1. The name of the design product: wheeled general humanoid robot. 2. The use of the design product: robots for industrial, scientific research production, retail, catering, education, leisure, entertainment, exhibition display, cultural activities and sports events and other diversified scene interactive services. 3. The design points of the design product: in shape. 4. The picture or photo that best indicates the design points: design 2 perspective view 1. 5. Design 2 is designated as the basic design. 6. Other circumstances that need to be explained: design 1 claims color.

The invention belongs to the technical field of trajectory tracking control of incomplete wheeled mobile robots, and particularly discloses a trajectory tracking control method and system of an incomplete wheeled mobile robot. According to the method, in the trajectory tracking process of the incomplete wheeled mobile robot, an adaptive neural state observer, a finite time command filter, an error compensation mechanism, virtual control input, an actual control signal and the like are designed; and the position tracking error and the attitude tracking error are converged in any small tight set near the original point in finite time. According to the method, the problem of computation complexity explosion caused by repeated derivation of a virtual control signal in a traditional backstepping method can be avoided, and the trajectory tracking error of the incomplete wheeled mobile robot can be converged to any small neighborhood within finite time under the conditions of unknown nonlinear dynamic state and unmeasurable speed; and all signals in the closed-loop system are finally bounded.

To improve the efficiency of work using autonomous mobile vehicles. [Solution] A control system for controlling the operation of a plurality of mobile bodies, the plurality of mobile bodies including a first mobile body, a second mobile body, a third mobile body, and a fourth mobile body. The first mobile body is equipped with a work device for performing a predetermined task. The second and fourth mobile bodies are equipped with supply devices capable of supplying materials to the work device. With the second mobile body positioned between the first and third mobile bodies, the work device of the first mobile body performs a predetermined task while receiving materials from the supply device of the second mobile body. If at least one of the first and second mobile bodies satisfies a predetermined condition, the second control device of the second mobile body moves the second mobile body away from the first and third mobile bodies. The fourth control device of the fourth mobile body moves the fourth mobile body so that it is positioned between the first and third mobile bodies.

The invention discloses a safety tracking control method of a wheeled mobile robot based on force and torque constraints, and belongs to the technical field of mobile robot control, and the method comprises the steps: obtaining a linear model of the wheeled mobile robot, the parameters of the linear model comprising the position and attitude angle of the wheeled mobile robot; acquiring an actual position and an actual attitude angle of the wheeled mobile robot through a prefabricated tracking controller, and comparing the actual position and the actual attitude angle with a reference position to obtain a position deviation; a tracking controller is controlled to generate a tracking control instruction according to the position deviation; acquiring the relative position and the relative speed of the obstacle and the wheeled mobile robot, and constructing an obstacle model; performing quadratic programming solution on the obstacle model to obtain an obstacle avoidance control instruction meeting obstacle constraints; and controlling the driving torque and the steering torque of the machine wheels based on the tracking control instruction and the obstacle avoidance control instruction to realize tracking and obstacle avoidance control of the wheeled mobile robot.

The utility model belongs to the technical field of driving wheels, in particular to a novel robot driving wheel integrally formed by composite material injection molding, which comprises a driving wheel body, one side of the driving wheel body is provided with a bearing hole, the surface of the driving wheel body is fixedly provided with a plurality of driving teeth, and the driving teeth are arranged in the bearing hole. The driving wheel body is made of a polyphenylene sulfide material, and a plurality of reinforcing ribs are fixedly mounted on the surface of the driving wheel body; by arranging the driving wheel body made of polyphenylene sulfide, the driving wheel is high in bearing capacity, high in landing force, accurate in differential control and high in direction precision, the direction precision and the movement efficiency of the wheeled mobile robot running in a complex environment are further improved, and the service life of the wheeled mobile robot is prolonged. The problem that steering is not accurate enough due to the fact that slipping and differential accuracy failure easily occur on some slope road surfaces, rubber elastic road surfaces and the like is solved.

The invention discloses a wheeled mobile robot trajectory tracking robust control method based on a feasible set, and belongs to the technical field of wheeled mobile robot trajectory tracking. The method comprises the following steps: establishing a track error system of the wheeled mobile robot; based on Lipschitz characteristics of a disturbance change rate and a set membership estimation method, constructing a dynamic feasible set representing a disturbed state range of the system; and adding the feasible set as a key constraint into a model predictive control (MPC) framework, and designing a feasible set iterative contraction mechanism. According to the invention, high-precision and high-robustness trajectory tracking can be realized under the condition of complex time-varying external disturbance.

The application discloses a kind of based on feasible set's wheeled mobile robot trajectory tracking robust control method, belongs to wheeled mobile robot trajectory tracking technical field.The method includes: establishing the trajectory error system of wheeled mobile robot;Based on the Lipschitz characteristic of disturbance rate of change and set member estimation method, the dynamic feasible set that the state range of system is disturbed is constructed;The feasible set is added as key constraint to model predictive control (MPC) framework, and feasible set iteration contraction mechanism is designed.The application can realize high-precision, high-robustness trajectory tracking under the condition of complex time-varying external disturbance.

This invention relates to the technical field of two-wheeled self-balancing vehicles, and more specifically, to a statically unstable wheeled mobile robot and its control method. The robot includes a first balancing device mounted on the front plate, a first counterweight connected to the output end of the first balancing device, a second balancing device mounted on the rear plate, and a second counterweight connected to the output end of the second balancing device. When making a sharp turn, the statically unstable wheeled mobile robot of this invention generates a torque that counteracts the robot's tipping by controlling the rotation of the first and second counterweights mounted on the front and rear plates, respectively. This maintains the robot's balance during the turn, prolonging the time the robot remains in balance during the turn, thereby enabling the robot to make sharp turns with the minimum turning radius. This meets the need for efficient and flexible turning in narrow areas and effectively solves the technical problems of excessively large turning radii and unstable turning in the prior art.

The application discloses a kind of multi-wheel mobile robot modularization formation collision avoidance control system and method, including online regulator module and trajectory tracking controller module.First, a plurality of virtual intelligent agents are constructed in online regulator module, and formation collision avoidance reference trajectory satisfying the requirements of wheeled mobile robot system is generated;Then, the trajectory tracking controller module of wheeled mobile robot is designed, so that it accurately tracks formation collision avoidance reference trajectory, to realize formation collision avoidance control.The system and method of the application can perform formation collision avoidance task without changing the controller of wheeled mobile robot, enhance the generality and convenience of design, is the expansion of prior art method, and is also a kind of prediction to possible application direction of future multi-wheel mobile robot system.

The invention provides a safety prediction control method for anti-interference and trigger obstacle avoidance of a wheeled mobile robot, and relates to the technical field of automatic control, and the method mainly comprises the steps: building a kinematics model of a four-wheel independent steering and four-wheel independent driving mobile robot, and carrying out the linear time-varying model conversion; designing a bounded error disturbance observer for observing external interference of the robot, obtaining an observation error upper bound, and establishing a control obstacle function obstacle avoidance constraint condition input to state safety based on a disturbance observation value and the error upper bound; constructing a distance triggering obstacle avoidance mechanism according to the current state information and the obstacle distance; and designing a safety prediction controller, and introducing a distance triggering mechanism and an obstacle avoidance constraint condition into a solving process of an optimization control problem. According to the safety prediction control method provided by the invention, the adaptability and robustness of the control system to interference can be improved, so that the robot can still keep a stable operation state when facing various uncertain external interferences.