Ackerman Robot Path Planning for Precise Position and Orientation

The patent segments the complex motion control problem into distinct phases: pure linear motion phase and pure angular rotation phase. By dividing the motion trajectory into these separate segments, each with its own control strategy, the system achieves high precision without requiring overly complex continuous control mechanisms. The linear phase uses simple velocity control while the rotation phase uses angular control, avoiding the need to handle complex coupling throughout the entire motion.

The patent performs preliminary action by pre-calculating the motion trajectory and determining the optimal switching point between linear and angular phases before execution. The system computes the expected position and orientation in advance, then uses this pre-planned path to guide the robot through simple sequential motions rather than complex real-time adjustments, thereby achieving high precision with simpler control.

The patent applies segmentation by separating the motion into distinct linear and angular phases, avoiding the need to control the complex coupling of angular and linear velocities simultaneously. During the linear phase, only linear velocity is controlled; during the angular phase, only angular velocity is controlled. This temporal and functional segmentation eliminates the control complexity while preserving the Ackerman chassis's large steering radius capability.

The patent uses dynamics by dynamically switching between different motion modes (linear motion mode and angular rotation mode) based on the robot's position relative to the target. The system adaptively adjusts the motion phase and control strategy in real-time, allowing the robot to exploit the Ackerman chassis strengths while avoiding its control complexities through dynamic phase transitions.

The patent segments the motion into pure linear and pure angular components executed in sequential phases. Although this decomposition may result in a slightly longer path compared to direct curved motion, it achieves superior position and orientation precision by eliminating the complex velocity coupling. The linear phase moves the robot to the correct distance, and the angular phase orients it precisely, ensuring high accuracy at each phase rather than attempting complex simultaneous control.

The patent maintains continuity of useful action by seamlessly transitioning between linear and angular motion phases without stopping. The system continuously executes useful motion throughout both phases, with the transition point optimized to minimize total time. This continuous execution ensures that while the path may be decomposed, the overall movement time remains efficient and the precision requirements are met through sustained controlled motion.