Mobile Robot Velocity Planning for Accurate Target Pose Reaching

The patent applies dynamics by making the motion model adjustable between circular motion and point-to-point motion. The system dynamically selects the appropriate motion mode based on the robot's distance to the target point and the required pose accuracy, allowing transition from circular motion at larger distances to direct positioning when close to the target, thereby resolving the contradiction between ease of circular motion operation and accuracy requirements.

The patent changes the motion parameters (steering radius, velocity profile) based on the robot's state and distance to target. By adjusting these parameters dynamically, the system can switch between circular motion patterns and direct positioning modes, enabling accurate target pose achievement while maintaining operational simplicity through parameter adaptation rather than complex structural changes.

The patent segments the path tracing task into two distinct phases: distant point traversal using circular motion for efficiency, and close-range positioning using direct point-to-point motion for accuracy. This segmentation allows the system to maintain high productivity during most of the journey while ensuring precise target pose achievement in the final stage, resolving the contradiction between traversal efficiency and final accuracy.

The patent applies partial action by using circular motion only for the portion of the trajectory where it is effective (distant points), and switching to direct positioning for the final approach where precision is critical. This partial use of circular motion maintains productivity while avoiding its limitation in achieving exact target pose, effectively resolving the contradiction between efficient traversal and accurate positioning.

The patent makes the steering radius dynamic rather than fixed. The system uses a large steering radius for stable motion during distant traversal, then dynamically reduces the steering radius when approaching the target point to enable precise positioning. This dynamic adjustment resolves the contradiction between motion stability and target pose accuracy by adapting the steering characteristics to the current operational phase.

The patent changes the steering radius parameter based on the robot's distance to the target point. By reducing the steering radius parameter when close to the target, the system can achieve accurate positioning while maintaining smooth motion characteristics. This parameter adaptation resolves the contradiction between large-radius stability and small-radius precision without requiring structural modifications.