Mobile Robot Point Stabilization With Adaptive Offset Control
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Solution Overview
Problem
Existing point stabilization control methods for mobile robots suffer from poor control precision due to the inability to adjust offsets based on actual motion direction and distance, leading to inaccuracies in reaching target positions.
Innovation Solution
A method and apparatus for mobile robots that determine a target motion rate and direction by calculating displacements and using a mapping relation to adjust the robot's position iteratively until it reaches a preset threshold distance from the target point, employing feedback control and potentially artificial vector fields for precise positioning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If the robot uses a fixed offset control method based on initial position, then the control system is simple to implement, but the control precision deteriorates because the offset cannot be adjusted according to actual motion direction and distance
Solution Approach 1:
The patent transforms the static fixed offset control into a dynamic adaptive offset control. The offset is no longer a fixed value but is dynamically adjusted based on the robot's actual motion direction and distance traveled. This allows the control system to adapt to different motion scenarios, improving precision without significantly increasing system complexity.
Solution Approach 2:
The patent implements a feedback mechanism where the robot's actual position, motion direction, and distance are continuously monitored and used to adjust the offset for the next control cycle. This closed-loop feedback enables the system to correct errors in real-time, significantly improving point stabilization precision while maintaining reasonable system complexity.
2Manufacturing precision
If the robot uses a dynamic offset adjustment method based on actual motion parameters, then the control precision is improved, but the device complexity increases due to additional calculations and mappings
Solution Approach 1:
The patent changes the control parameter from a fixed offset value to a dynamic parameter that varies based on motion direction and distance. By establishing a mapping relationship between motion parameters and offset values, the system achieves adaptive precision control. The complexity is managed by formulating clear mathematical relationships rather than using complex neural networks or heuristics.
Solution Approach 2:
The patent pre-establishes the mapping relationship between motion parameters and offset adjustments before actual control execution. This preliminary preparation allows the control system to quickly compute adjustments during runtime without complex real-time decision-making, reducing computational burden while maintaining high precision.
3Manufacturing precision
If the robot performs iterative position corrections using mapping relations, then the stabilization accuracy is enhanced, but the control time increases due to multiple calculation cycles
Solution Approach 1:
The patent applies partial correction in each control cycle rather than attempting full correction. By adjusting the offset partially based on current motion parameters and iterating, the system achieves high accuracy over multiple cycles. This approach balances computational effort per cycle with overall convergence speed, preventing excessive time loss while maintaining precision.
Data Source
AI summary
A point stabilization control method includes determining a first displacement of the robot relative to the target object according to a position of the target object and an initial position of the robot; determining a to-be-offset displacement according to the first displacement and a second displacement of the target object relative to a target point and determining a target motion rate and a target motion direction of the robot according to the to-be-offset displacement and a mapping relation of a motion rate, a motion direction and the to-be-offset displacement; determining a current position of the robot according to the target motion rate and the target motion direction; and using the current position as the initial position and returning to the preceding steps until a distance between the current position of the robot and a position of the target point is less than a preset threshold.