Nonholonomic Robot Parking with Continuous Pose Regulation
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing methods for controlling underactuated systems, such as nonholonomic mobile robots, are inefficient due to reliance on switching control methods that require multiple controllers and fail to consider converging accuracy and transition goal poses, making precise and natural parking challenging.
Innovation Solution
A method for continuous regulation of nonholonomic mobile robots that involves identifying current and final poses, determining a moving path, and controlling the robot to converge to the final pose simultaneously, with options for introducing a transition goal pose and moving backward to ensure smooth and precise parking.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If switching control methods are used to control underactuated systems, then the system can be stabilized, but the control process becomes time-consuming and inefficient due to requiring multiple controllers
Solution Approach 1:
The patent merges multiple switching controllers into a single continuous regulation controller that can handle all control scenarios. The controller uses a unified control law with continuous feedback to stabilize the underactuated system without requiring switching between different controllers, thereby eliminating the time loss associated with controller switching while maintaining system stabilization.
Solution Approach 2:
The patent implements continuous regulation control that operates continuously without interruption or switching. The control action is maintained continuously through the entire control process, ensuring smooth and efficient regulation of the underactuated system while avoiding the time-consuming switching operations of traditional methods.
2Ease of operation
If traditional continuous regulation control methods are used, then the control is simple, but the system cannot achieve precise parking due to ignoring converging accuracy and transition goal poses
Solution Approach 1:
The patent segments the parking process into distinct phases: approach phase, transition phase, and final convergence phase. Each phase has specific control objectives and parameters. The transition goal pose is introduced as an intermediate target that divides the control process, allowing the system to first reach a transitional position and then converge precisely to the final goal, thereby achieving both simple control structure and high parking precision.
Solution Approach 2:
The patent introduces a transition goal pose as a preliminary target before the final goal pose. The system first converges to this intermediate transition pose, which prepares the system for the final precise parking. This preliminary action allows the controller to handle the complex convergence requirements in a structured manner while maintaining control simplicity.
3Ease of manufacture
If existing control methods are used, then the implementation is straightforward, but the parking motion appears unnatural and abrupt due to lack of consideration for smooth transitions
Solution Approach 1:
The patent employs curved transition paths and smooth trajectory planning instead of straight-line or angular movements. The transition goal pose serves as a pivot point for curved motion transitions, making the parking motion more natural and smooth. The control law incorporates continuous derivatives and smooth function transitions that eliminate abrupt changes in velocity and acceleration, resulting in natural-looking motion while keeping the implementation relatively simple.
Data Source
AI summary
Embodiments of the disclosure provide methods and systems for continuous regulation of a nonholonomic mobile robot. An exemplary method may include identifying a current pose of the nonholonomic mobile robot in a world frame, where the current pose is represented by a first set of values defining a first set of states of the nonholonomic mobile robot in the world frame; receiving a final goal pose of the nonholonomic mobile robot, where the final goal pose is represented by a second set of values defining a second set of states of nonholonomic mobile robot in the world frame; determining a moving path for moving the nonholonomic mobile robot from the current pose to the final goal pose; and controlling the nonholonomic mobile robot to move from the current pose to the final goal pose according to the moving path, where the nonholonomic mobile robot moves to the final goal pose by converging the nonholonomic mobile robot from the first set of states to the second set of states simultaneously.