Mobile Robot Path Tracking with Curvature-Based Speed Control
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Solution Overview
Problem
Existing path tracking methods for mobile robots tend to ignore path points with large curvature, leading to instability and potential track deviation, especially near positions with high curvature.
Innovation Solution
A path tracking method that adjusts the forward-looking distance and velocity of the mobile device based on the path curvature, using a penalty function to optimize the forward-looking distance and movement velocity according to the curvature of the path, ensuring stability and accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the mobile robot uses a fixed forward-looking distance for path tracking, then the control is simple, but the robot cannot accurately track path points with large curvature and may leave the track
Solution Approach 1:
The patent applies dynamics by making the forward-looking distance variable rather than fixed. The forward-looking distance is dynamically adjusted based on the curvature of the path at different positions. When the path curvature is large, the forward-looking distance is reduced to allow more frequent path point updates, improving tracking accuracy. When the curvature is small, the forward-looking distance can be increased for smoother control. This dynamic adjustment resolves the contradiction between control simplicity and path tracking accuracy.
Solution Approach 2:
The patent changes the parameter of forward-looking distance from a constant value to a variable that depends on path curvature. By introducing curvature as a parameter to modulate the forward-looking distance, the system adapts to different path characteristics. This parameter change enables the robot to maintain accurate tracking on high-curvature sections while keeping the control mechanism relatively simple through a well-defined adjustment rule.
2Stability of the object's composition
If the mobile robot moves at constant velocity, then the movement is stable, but the robot cannot adapt to path sections with different curvature requirements
Solution Approach 1:
The patent makes the robot's velocity dynamic by adjusting it according to path curvature. On sections with large curvature, the velocity is reduced to allow more time for processing and more frequent updates of the forward-looking point, improving adaptability. On sections with small curvature, the velocity can be maintained at higher levels for efficient traversal. This dynamic velocity adjustment maintains stability through a systematic control rule while enhancing adaptability to different path characteristics.
Solution Approach 2:
The patent changes the velocity parameter from constant to variable based on path curvature. By introducing curvature-dependent velocity adjustment, the system gains adaptability to different path sections. The velocity parameter is modulated in response to changing path conditions, allowing the robot to optimize its movement for both stability and adaptability across diverse trajectory requirements.
3Manufacturing precision
If the robot updates the forward-looking point frequently, then the path tracking accuracy improves, but the system complexity and computational load increase
Solution Approach 1:
The patent applies local quality by updating the forward-looking point more frequently only at locations where the path curvature is large, which is where higher tracking accuracy is needed. On straight or low-curvature sections, the update frequency can be reduced. This localized adjustment of update frequency improves overall tracking accuracy without uniformly increasing system complexity across all path sections, optimizing the balance between precision and computational burden.
4Manufacturing precision
If the robot reduces velocity at high curvature sections, then the path tracking accuracy improves, but the overall productivity decreases
Solution Approach 1:
The patent changes the velocity parameter dynamically based on local path curvature characteristics. Rather than maintaining a uniformly low velocity throughout the entire path, the system adjusts velocity locally: reducing speed only at high-curvature sections where tracking accuracy is critical, and maintaining higher speeds on low-curvature sections. This selective parameter adjustment improves tracking accuracy where needed while minimizing the impact on overall productivity.
Data Source
AI summary
The present disclosure provides a path tracking method as well as a mobile robot using the same. The method includes: obtaining a preset path and a current position of the mobile device; determining a forward-looking path point corresponding to the current position on the preset path; obtaining a path curvature corresponding to the forward-looking path point; and determining an adjustment velocity of the mobile device at the current position based on the path curvature corresponding to the forward-looking path point. In this manner, the adjustment velocity of the mobile device can be determined based on the curvature of the path, so as to adjust the velocity of the mobile device and improve the stability of path tracking of the mobile device at different path curvatures.