CN107943056B - 基于查表法的不完整约束轮式机器人轨迹跟踪控制方法 - Google Patents
基于查表法的不完整约束轮式机器人轨迹跟踪控制方法 Download PDFInfo
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- CN107943056B CN107943056B CN201711414641.1A CN201711414641A CN107943056B CN 107943056 B CN107943056 B CN 107943056B CN 201711414641 A CN201711414641 A CN 201711414641A CN 107943056 B CN107943056 B CN 107943056B
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- 238000000034 method Methods 0.000 title claims abstract description 53
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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Families Citing this family (7)
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CN110770664A (zh) * | 2018-06-25 | 2020-02-07 | 深圳市大疆创新科技有限公司 | 一种导航路径跟踪控制方法、设备、移动机器人及系统 |
CN108972550B (zh) * | 2018-07-10 | 2021-05-04 | 哈尔滨工业大学(深圳) | 一种同心管机器人逆运动学求解方法 |
CN109597310B (zh) * | 2019-02-01 | 2021-09-07 | 东南大学 | 一种基于扰动观测器的轮式移动机器人轨迹跟踪方法 |
CN110244724A (zh) * | 2019-06-12 | 2019-09-17 | 广州晒帝智能科技有限公司 | 一种基于履带式机器人的行走方向控制方法和装置及设备 |
CN110989350B (zh) * | 2019-12-11 | 2021-08-31 | 安徽理工大学 | 一种基于膜计算实现井下移动机器人位姿优化方法及装置 |
CN112346462B (zh) * | 2020-11-06 | 2024-03-29 | 天津大学 | 一种基于运动学的轮式移动机器人抗饱和控制方法 |
CN112947423A (zh) * | 2021-01-29 | 2021-06-11 | 深圳市银星智能科技股份有限公司 | 清洁路径规划方法、移动机器人及存储介质 |
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US7468592B2 (en) * | 2005-12-08 | 2008-12-23 | Electronics And Telecommunications Research Insitute | Apparatus for moving center of gravity of robot, and system and method using the same |
CN101961819B (zh) * | 2009-07-22 | 2013-10-30 | 中国科学院沈阳自动化研究所 | 一种激光焊接焊缝跟踪实现装置及其控制方法 |
CN102023569B (zh) * | 2010-09-01 | 2012-05-23 | 重庆大学 | 两轮轮式机器人点镇定增量式智能控制方法 |
US9248569B2 (en) * | 2013-11-22 | 2016-02-02 | Brain Corporation | Discrepancy detection apparatus and methods for machine learning |
CN103631265A (zh) * | 2013-12-09 | 2014-03-12 | 天津工业大学 | 一种质心不确定移动机器人的几何路径跟踪方法 |
CN103926839A (zh) * | 2014-04-23 | 2014-07-16 | 浙江师范大学 | 一种轮式移动机器人的运动分段控制方法 |
CN104317299B (zh) * | 2014-11-11 | 2017-01-25 | 东南大学 | 一种基于轮式移动机器人轨迹跟踪的混合控制方法 |
CN106125728B (zh) * | 2016-07-05 | 2019-01-25 | 上海电机学院 | 一种四驱轮式移动机器人轨迹跟踪控制方法 |
CN106546170B (zh) * | 2016-10-13 | 2019-05-14 | 同济大学 | 一种机器人运动轨迹关键点误差测量方法 |
CN106527129B (zh) * | 2016-10-18 | 2019-08-27 | 长安大学 | 一种并联机器人间接自适应模糊控制参数的确定方法 |
CN107045552B (zh) * | 2017-04-28 | 2020-04-24 | 齐鲁工业大学 | 一种基于正弦对角步态与快速查表法的四足机器人运动控制方法及控制装置 |
CN107272677B (zh) * | 2017-06-07 | 2020-12-11 | 东南大学 | 一种移动机器人的变结构自适应轨迹跟踪控制方法 |
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