CN103963782B - Tractor-trailer mobile robot Parallel parking method - Google Patents
Tractor-trailer mobile robot Parallel parking method Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
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Abstract
The tractor-trailer mobile robot Parallel parking method of the present invention, including: a). define initial and terminal position shape; B). set reference path as ����; C). set upKinematics model under path; D). set upKinematics model under path; E). solution path, calculate fromThe n that some position shape forward starts restraints curve reference path; F). solution path, calculate fromThe n that some position shape reversely starts restraints curve reference path; G). find out tangent or approximate tangent intersection point; H). determine parking path; I). control to park, control tractor-trailer mobile robot and park. The Parallel parking method of the present invention, when initial bit shape and terminal position shape are known, can automatically calculate the parking path of the best, automatic parking can be realized under the effect of fuzzy controller, park for the auto-paralleling of existing pulling type robot and established theoretical basis.
Description
Technical field
The present invention relates to a kind of tractor-trailer mobile robot Parallel parking method, in particular, particularly relate to a kind of parking path that first calculates and recycle the tractor-trailer mobile robot Parallel parking method that fuzzy Control is parked.
Background technology
Tractor-trailer mobile robot (Tractor-trailerMobileRobot, TTMR) it is a kind of comparatively special mobile apparatus people, it by the tractor (tractor) being positioned at foremost and by the multiple passive trailer (trailer) of dragging form, tractor performs to turn to and drive function, and tractor motion followed by trailer. Tractor-trailer mobile robot has the motor capacity of mobile apparatus people on the one hand, can expand other function of mobile apparatus people on the other hand. Such as clean robot, it is possible to pull a truck cleaned and collect rubbish after mobile apparatus people, thus reducing cost, improves efficiency; It addition, rescue robot can pass through to pull its transport capacity of increase, trailer joint number can also change flexibly simultaneously, in order to transport voluminous object.
At present, the object of study of tractor-trailer mobile robot is mainly indoor service robot, such as clean robot, rescue robot, on factory position warehouse, airport for transporting goods, carry luggage, the transportation robot of the task such as on carriage of Cargo. Service robot is had a preliminary definition by international robotics community: service robot is the robot of a kind of half autonomous or full utonomous working, and it can complete the services being beneficial to man, but does not include manufacturing-oriented equipment. From broadly it is believed that service robot refers to the various robots except industrial robot, it is mainly used in service trade, such as underwater robot, clean robot, rescue robot etc. At present, service robot is developed with very fast speed. Investigation according to IFR, the end of the year 1998, the sum of world service robot is estimated as minimum 5000 at (not including vacuum cleaning machine people), and to the end of the year 2009, there are about 76,600 service robots are worldwide applied, and estimate that domestic robot (domesticrobot) will become the mainstay of service robot.
Parallel parking problem derives from reversing problems, 1989, and the Widrow professor of Stanford Univ USA proposes reversing problems in the research for the optimal control problem of nonlinear multivariable system]. Owing to system exists nonholonomic constraint, reversing problems and the Parallel parking problem of nonholonomic system have very big challenge, have become as the major issue of control field research. Chinese scholars is existing a lot of for the research of the reversing problems of general wheeled mobile robot, such as the Widrow control method based on neutral net proposed, the fuzzy control method that Kosko and Freeman et al. proposes, Tanaka is based on the control design case method of linear inequality.
But the research for the reversing problems of tractor-trailer mobile robot is relatively fewer. The reversing problems of similar system is proposed a kind of stratified filtering method by AndriRiid et al.. Parallel parking problem requires that controlling tractor-trailer mobile robot moves to the terminal position shape parallel with initial bit shape from initial bit shape. During due to adverse movement, trailer subsystem is unstable, and the antiparallel problem of parking of tractor-trailer mobile robot is increasingly complex and difficult.
Summary of the invention
The present invention shortcoming in order to overcome above-mentioned technical problem, it is provided that a kind of tractor-trailer mobile robot Parallel parking method.
The tractor-trailer mobile robot Parallel parking method of the present invention, tractor-trailer mobile robot includes tractor and trailer, being connected by linking point between tractor with trailer, linking point place is provided with for the car body vertical line the measuring trailer angular transducer relative to the car body vertical line rotational angle of tractor; Tractor is by rear wheel drive, front-wheel steer, and the steering angular velocity of tractor steering front wheel is, the longitudinal velocity of tractor is, and wheel and ground fricton-tight; Distance between tractor driving wheel and deflecting roller is, the wheel shaft midpoint of trailer to the distance of linking point is, the length connecting axle is; The left and right driving wheel of tractor can be driven respectively, and the different rotating speeds taken turns by left and right driving realizes turning to;
DefinitionFor coordinate systemThe position shape of middle tractor and trailer,The position shape of tractor is represented when=1,The position shape of trailer is represented when=2;For the coordinate of tractor hind axle central point,Coordinate for trailer axles centerline;For azimuth, expression car body vertical line is relative to coordinate systemThe angle that axle forward rotates;For the steering angle of tractor, the angle between expression tractor deflecting roller and car body vertical line; Tractor can obtain self car body vertical line relative to coordinate systemThe angle that axle forward rotates;��Speed for tractor left and right driving wheel;
It is characterized in that, described Parallel parking method is realized by following steps:
A). define initial and terminal position shape, if initial bit shape is:=0,=0,==0 ��, it is designated asPoint; Terminal position shape is=0,=,==0 ��, it is designated asPoint, then pulling type robot to realize distance and isParallel parking; B). set reference path, if pulling type robot fromExtremelyPoint realizes Parallel parking and sequentially passes through straight line path, curved path, curved path, path����The steering angle of middle tractor respectively constant value����, and=0 ��; IfThe position shape of some pulling type robot is=,=0,==0 ��; C). set upKinematics model under path, sets up the path as shown in dynamical equation group (1)The kinematics model of lower tractor-trailer mobile robot:
(1)
D). set upKinematics model under path, the first virtual tractor of design one auxiliary, in plane coordinate system, virtual tractor and actual tractor are symmetrical relative to the wheel axis of trailer, in order to adverse movement is converted to the positive movement of virtual tractor;Then set up the path as shown in dynamical equation group (2)Under the kinematics model of virtual tractor-trailer mobile robot:
(2)
Wherein,=-;��The respectively position shape of virtual tractor and corresponding trailer; E). solution path, by terminalPosition shape=0��=��==0, car body parameter����And the longitudinal velocity of tractorSubstitute in the dynamical equation group (1) of tractor-trailer mobile robot, and meeting constraints<When, obtain steering angle==-0.01*,=0,1,2,��,, and��Time, calculate fromThe n that some position shape forward starts restraints curve reference path; F). solution path, by pointPosition shape=��=0��==0, car body parameter����And the longitudinal velocity of tractorSubstitute in the dynamical equation group (2) of virtual tractor-trailer mobile robot, and meeting constraints<When, obtain steering angle==0.01*,=0,1,2,��,, and��Time, calculate fromThe n that some position shape reversely starts restraints curve reference path; G). find out tangent or approximate tangent intersection point, definition position shape��, position shape��ForSection curved path andTwo juxtaposition shapes on section curved path, if meeting following constraints:
��, and��(3)
Then think a shape��Meet the tangent or approximate Tangent Condition of intersection point, intersection pointOr;
H). determine parking path, according to the step g) intersection point obtained, it is determined that go out straight line path during tractor-trailer mobile robot Parallel parking, curved pathAnd curved path, and pathUnder steering angle, pathUnder steering angle; I). control to park, according to the parking path determined in step h), control tractor-trailer mobile robot and park.
The tractor-trailer mobile robot Parallel parking method of the present invention, tractor-trailer mobile robot adopts left and right wheels Differential Driving mode; Curved path when parking in step i)WithAdverse movement is realized by following steps: i-1). determine LOS direction, if current reference path is, the position of trailer is, definitionFor trailer positionIn reference pathOn subpoint; Reference pointIt is defined as:
(4)
And
(5)
Wherein> 0,,WithIt it is the road mark point coordinates in current reference path; Line-of-sight navigation LOS direction is defined as by the position of trailerPoint to reference pointThe direction of straight line, is designated as; I-2). definition input and output, the input of fuzzy controller is defined as:
(6)
(7)
The output of fuzzy controller is defined as the azimuth increment of tractor; I-3). definition domain, the linguistic variable of input and output domain is defined respectively as:
(8)
The domain of fuzzy controller is defined as��,��,��; Membership function adopts and is uniformly distributed trigonometric function; I-4). adopt fuzzy control rule as shown in the table:
Adopting minimum operational rule ambiguity in definition to contain the fuzzy relation of expression, the synthesis computing of fuzzy relation adopts greatly rule, and fuzzy parsing adopts centroid method; I-5). obtain revolver speed, right wheel speed in path tracking procedureRemain unchanged; According to step i-4) in the azimuth increment of tractor of output, obtain revolver speed by equation below:
-(9)
Wherein parameter> 0, is meeting mechanical constraints<When, the Parallel parking of tractor-trailer mobile robot is realized by controlling the speed of revolver.
The tractor-trailer mobile robot Parallel parking method of the present invention, step i-5) in right wheel speed=100mm/s,=10��
The invention has the beneficial effects as follows: the tractor-trailer mobile robot Parallel parking method of the present invention, adopt under the premise of left and right wheels Differential Driving mode at tractor, first provide forward straight line path, backward curve pathWith, then according to path��Under motion model and point��Coordinate calculateBundle path��, then obtain according to constraints��In meet tangent or approximate tangentPoint, finally determines the motion path of tractor-trailer mobile robot, to realize Parallel parking.
In controlling the process parked, when right wheel speed keeps certain speed, adopt line-of-sight navigation method, with��, line-of-sight navigation directionDefine the input of fuzzy controller, with the azimuth increment of tractorFor the output of fuzzy controller, membership function, fuzzy control rule, fuzzy solution analysis method fixed according to the domain of fuzzy controller obtain azimuth increment, final basis -Obtain left speed, realize automatic parking by the left and right differential control taken turns.
The Parallel parking method of the present invention, when initial bit shape and terminal position shape are known, can automatically calculate the parking path of the best, automatic parking can be realized under the effect of fuzzy controller, park for the auto-paralleling of existing pulling type robot and established theoretical basis.
Accompanying drawing explanation
Fig. 1 is the setting figure of the position shape of tractor and trailer in the present invention and car body parameter;
Fig. 2 is the setting schematic diagram of the initial bit shape of Parallel parking in the present invention and terminal position shape;
Fig. 3 be in the present invention virtual tractor set up schematic diagram;
Fig. 4 be in the present invention line-of-sight navigation direction set up schematic diagram;
In Fig. 5, figure is a) for the input of fuzzy controllerMembership function, figure b) for the input of fuzzy controllerMembership function;
Fig. 6 is the output of fuzzy controllerMembership function;
Path when Fig. 7 is for providing concrete initial, terminal position shape and car body parameter��Schematic diagram;
Fig. 8 is the running orbit of tractor-trailer mobile robot in Parallel parking process;
Fig. 9 be the car body fixed coordinate system of tractor and trailer set up schematic diagram.
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described with embodiment.
The tractor-trailer mobile robot Parallel parking method of the present invention, tractor-trailer mobile robot includes tractor and trailer, being connected by linking point between tractor with trailer, linking point place is provided with for the car body vertical line the measuring trailer angular transducer relative to the car body vertical line rotational angle of tractor; As it is shown in figure 1, give the position shape of tractor and trailer and the setting figure of car body parameter, tractor is by rear wheel drive, front-wheel steer, and the steering angular velocity of tractor steering front wheel is, the longitudinal velocity of tractor is, and wheel and ground fricton-tight; Distance between tractor driving wheel and deflecting roller is, the wheel shaft midpoint of trailer to the distance of linking point is, the length connecting axle is; The left and right driving wheel of tractor can be driven respectively, and the different rotating speeds taken turns by left and right driving realizes turning to;
DefinitionFor coordinate systemThe position shape of middle tractor and trailer,The position shape of tractor is represented when=1,The position shape of trailer is represented when=2;For the coordinate of tractor hind axle central point,Coordinate for trailer axles centerline;For azimuth, expression car body vertical line is relative to coordinate systemThe angle that axle forward rotates;For the steering angle of tractor, the angle between expression tractor deflecting roller and car body vertical line; Tractor can obtain self car body vertical line relative to coordinate systemThe angle that axle forward rotates;��Speed for tractor left and right driving wheel;
Owing to tractor can obtain azimuth, the trailer obtained by angular transducer, relative to the anglec of rotation of tractor, can obtain azimuth��
Described Parallel parking method is realized by following steps:
A). define initial and terminal position shape, as in figure 2 it is shown, give the initial bit shape of Parallel parking and the setting schematic diagram of terminal position shape, if initial bit shape is:=0,=0,==0 ��, it is designated asPoint;Terminal position shape is=0,=,==0 ��, it is designated asPoint, then pulling type robot to realize distance and isParallel parking;
Owing to realize the Parallel parking in Parallel parking, arbitrary form and orientation, all can be converted into initial bit shape is=0,=0,==0 ��, terminal position shape is=0,=,=The form of=0 ��;
B). set reference path, if pulling type robot fromExtremelyPoint realizes Parallel parking and sequentially passes through straight line path, curved path, curved path, path����The steering angle of middle tractor respectively constant value����, and=0 ��; IfThe position shape of some pulling type robot is=,=0,==0 ��;
C). set upKinematics model under path, sets up the path as shown in dynamical equation group (1)The kinematics model of lower tractor-trailer mobile robot:
(1)
In order to absolutely prove the foundation of the kinematics model of pulling type robot, the derivation of formula (1) is given below:
As it is shown in figure 1, set tractor to be positioned at reference pointPlace, trailer is positioned at reference pointPlace, as it is assumed that the wheel of tractor only rolls without slip with contacting of ground, the lateral movement velocity of tractor and trailer is zero, then have:
(1-1)
By the geometrical relationship connected between tractor and trailer, it is possible to obtain the reference point of trailerThe equality constraint at place:
(1-2)
Pulling type robot is additionally subjected to the inequality constraints being mechanically connected and electrically driven restriction causes, it is desirable to the steering angle of tractor and the angle of trailer meet following inequality constraints:
,(1-3)
The kinematical equation that can derive tractor according to constraint (1-1) is as follows:
(1-4)
The position reference point of tractor and trailer is redefined at complex plane spaceWithAs follows:
(1-5)
According to constraint equation (1-2), have
(1-6)
Wherein,��
According to Euler's formula, have
,(1-7)
Namely
=(1-8)
Row write real part and the imaginary part of formula (1-8) respectively:
(1-9)
(1-10)
Arrangement can obtain:
(1-11)
Namely
(1-12)
Thus having
(1-13)
As it is shown in figure 9, give tractor and trailer car body fixed coordinate system set up schematic diagram, with the longitudinal axis of car body forAxle, transverse axis isAxle,For initial point, set up the coordinate system of tractor as depicted, car body edgeThe linear velocity of axle is, then the angular velocity of car body is:
(1-14)
The junction point of definition tractor and trailer linear speed in the car body fixed coordinate system of tractor is respectivelyWith, then have
=(1-15)
The same longitudinal axis with car body forAxle, transverse axis isAxle,For initial point, set up the coordinate system of trailer as depicted, car body edgeThe linear velocity of axle is, the junction point of tractor and trailer linear speed in the car body fixed coordinate system of tractor is respectivelyWith. According to coordinate system transformation equation, have
= (1-16)
And
=(1-17)
Formula (1-15) and (1-16) are substituted into (1-17) obtain
= (1-18)
Namely
(1-19)
In sum, the kinematics model of the tractor-trailer mobile robot with a joint trailer can be derived as shown in Equation (1).
D). set upKinematics model under path, the first virtual tractor of design one auxiliary, in plane coordinate system, virtual tractor and actual tractor are symmetrical relative to the wheel axis of trailer, in order to adverse movement is converted to the positive movement of virtual tractor; Then set up the path as shown in dynamical equation group (2)Under the kinematics model of virtual tractor-trailer mobile robot:
(2)
Wherein,=-;��The respectively position shape of virtual tractor and corresponding trailer;
As it is shown on figure 3, what give virtual tractor in the present invention sets up schematic diagram, in plane coordinate system, virtual tractor and actual tractor are symmetrical relative to the wheel axis of trailer, and the kinematics characteristic of virtual tractor can describe as follows:
(2-1)
The position shape of virtual tractor and actual tractor have following relation:
(2-2)
To in formula (2-2),WithDerivation can obtain
(2-3)
Order
And assume, according to formula (2-2) and (2-3), have
(2-4)
To formula (2-4) two ends derivation,
(2-5)
Thus can verify that the kinematics characteristic of virtual tractor system and actual tractor is of equal value, the adverse movement control problem of system can be changed into the positive movement control problem of virtual tractor.
E). solution path, by terminalPosition shape=0��=��==0, car body parameter����And the longitudinal velocity of tractorSubstitute in the dynamical equation group (1) of tractor-trailer mobile robot, and meeting constraints<When, obtain steering angle==-0.01*,=0,1,2,��,, and��Time, calculate fromThe n that some position shape forward starts restraints curve reference path;
F). solution path, by pointPosition shape=��=0��==0, car body parameter����And the longitudinal velocity of tractorSubstitute in the dynamical equation group (2) of virtual tractor-trailer mobile robot, and meeting constraints<When, obtain steering angle==0.01*,=0,1,2,��,, and��Time, calculate fromThe n that some position shape reversely starts restraints curve reference path;
G). find out tangent or approximate tangent intersection point, definition position shape��, position shape��ForSection curved path andTwo juxtaposition shapes on section curved path, if meeting following constraints:
��, and��(3)
Then think a shape��Meet the tangent or approximate Tangent Condition of intersection point, intersection pointOr;
H). determine parking path, according to the step g) intersection point obtained, it is determined that go out straight line path during tractor-trailer mobile robot Parallel parking, curved pathAnd curved path, and pathUnder steering angle, pathUnder steering angle;
I). control to park, according to the parking path determined in step h), control tractor-trailer mobile robot and park.
As it is shown in fig. 7, provide path when concrete initial, terminal position shape and car body parameter��Schematic diagram,Point coordinates be (0,0),Point coordinates be (8000,0),Coordinate is (2000,0), car body parameter, When, calculated curve reference pathWithSchematic diagram. Calculating according to step f), calculatedPoint coordinates is (2053,1107),=5.73 ��,=-2.29 ��, its path����As shown in Figure 2. As shown in Figure 8, giving the running orbit of tractor-trailer mobile robot in Parallel parking process, the hollow rectangle shown in figure is tractor, and Filled Rectangle is trailer.
Tractor-trailer mobile robot adopts left and right wheels Differential Driving mode; Curved path when parking in step i)WithAdverse movement is realized by following steps:
I-1). determining LOS direction, as shown in Figure 4, what give line-of-sight navigation direction in the present invention sets up schematic diagram, if current reference path is, the position of trailer is, definitionFor trailer positionIn reference pathOn subpoint; Reference pointIt is defined as:
(4)
And
(5)
Wherein> 0,,WithIt it is the road mark point coordinates in current reference path; Line-of-sight navigation LOS direction is defined as by the position of trailerPoint to reference pointThe direction of straight line, is designated as;
I-2). definition input and output, the input of fuzzy controller is defined as:
(6)
(7)
The output of fuzzy controller is defined as the azimuth increment of tractor;
I-3). definition domain, the linguistic variable of input and output domain is defined respectively as:
(8)
The domain of fuzzy controller is defined as��,��,��; Membership function adopts and is uniformly distributed trigonometric function;
As it is shown in figure 5, figure is a) for the input of fuzzy controllerMembership function, figure b) for the input of fuzzy controllerMembership function; Fig. 6 is the output of fuzzy controllerMembership function; It is for being uniformly distributed trigonometric function.
I-4). adopt fuzzy control rule as shown in the table:
Adopting minimum operational rule ambiguity in definition to contain the fuzzy relation of expression, the synthesis computing of fuzzy relation adopts greatly rule, and fuzzy parsing adopts centroid method;
I-5). obtain revolver speed, right wheel speed in path tracking procedureRemain unchanged; According to step i-4) in the azimuth increment of tractor of output, obtain revolver speed by equation below:
-(9)
Wherein parameter> 0, is meeting mechanical constraints<When, the Parallel parking of tractor-trailer mobile robot is realized by controlling the speed of revolver.
Right wheel speed100mm/s can be chosen for,10 can be chosen for.
Claims (3)
1. a tractor-trailer mobile robot Parallel parking method, tractor-trailer mobile robot includes tractor and trailer, being connected by linking point between tractor with trailer, linking point place is provided with for the car body vertical line the measuring trailer angular transducer relative to the car body vertical line rotational angle of tractor; Tractor is by rear wheel drive, front-wheel steer, and the steering angular velocity of tractor steering front wheel is, the longitudinal velocity of tractor is, and wheel and ground fricton-tight; Distance between tractor driving wheel and deflecting roller is, the wheel shaft midpoint of trailer to the distance of linking point is, the length connecting axle is; The left and right driving wheel of tractor can be driven respectively, and the different rotating speeds taken turns by left and right driving realizes turning to;
DefinitionFor coordinate systemThe position shape of middle tractor and trailer,The position shape of tractor is represented when=1,The position shape of trailer is represented when=2;For the coordinate of tractor hind axle central point,Coordinate for trailer axles centerline;For azimuth, expression car body vertical line is relative to coordinate systemThe angle that axle forward rotates;For the steering angle of tractor, the angle between expression tractor deflecting roller and car body vertical line; Tractor can obtain self car body vertical line relative to coordinate systemThe angle that axle forward rotates;��Speed for tractor left and right driving wheel;
It is characterized in that, described Parallel parking method is realized by following steps:
A). define initial and terminal position shape, if initial bit shape is:=0,=0,==0 ��, it is designated asPoint; Terminal position shape is=0,=,==0 ��, it is designated asPoint, then pulling type robot to realize distance and isParallel parking;
B). set reference path, if pulling type robot fromExtremelyPoint realizes Parallel parking and sequentially passes through straight line path, curved path, curved path, path����The steering angle of middle tractor respectively constant value����, and=0 ��; IfThe position shape of some pulling type robot is=,=0,==0 ��;
C). set upKinematics model under path, sets up the path as shown in dynamical equation group (1)The kinematics model of lower tractor-trailer mobile robot:
(1)
D). set upKinematics model under path, the first virtual tractor of design one auxiliary, in plane coordinate system, virtual tractor and actual tractor are symmetrical relative to the wheel axis of trailer, in order to adverse movement is converted to the positive movement of virtual tractor;Then set up the path as shown in dynamical equation group (2)Under the kinematics model of virtual tractor-trailer mobile robot:
(2)
Wherein,=-;��The respectively position shape of virtual tractor and corresponding trailer;
E). solution path, by terminalPosition shape=0��=��==0, car body parameter����And the longitudinal velocity of tractorSubstitute in the dynamical equation group (1) of tractor-trailer mobile robot, and meeting constraints<When, obtain steering angle==-0.01*,=0,1,2,��,, and��Time, calculate fromThe n that some position shape forward starts restraints curve reference path;
F). solution path, by pointPosition shape=��=0��==0, car body parameter����And the longitudinal velocity of tractorSubstitute in the dynamical equation group (2) of virtual tractor-trailer mobile robot, and meeting constraints<When, obtain steering angle==0.01*,=0,1,2,��,, and��Time, calculate fromThe n that some position shape reversely starts restraints curve reference path;
G). find out tangent or approximate tangent intersection point, definition position shape��, position shape��ForSection curved path andTwo juxtaposition shapes on section curved path, if meeting following constraints:
��, and��(3)
Then think a shape��Meet the tangent or approximate Tangent Condition of intersection point, intersection pointOr;
H). determine parking path, according to the step g) intersection point obtained, it is determined that go out straight line path during tractor-trailer mobile robot Parallel parking, curved pathAnd curved path, and pathUnder steering angle, pathUnder steering angle;
I). control to park, according to the parking path determined in step h), control tractor-trailer mobile robot and park.
2. tractor-trailer mobile robot Parallel parking method according to claim 1, it is characterised in that tractor-trailer mobile robot adopts left and right wheels Differential Driving mode; Curved path when parking in step i)WithAdverse movement is realized by following steps:
I-1). determine LOS direction, if current reference path is, the position of trailer is, definitionFor trailer positionIn reference pathOn subpoint; Reference pointIt is defined as:
(4)
And
(5)
Wherein> 0,,WithIt it is the road mark point coordinates in current reference path; Line-of-sight navigation LOS direction is defined as by the position of trailerPoint to reference pointThe direction of straight line, is designated as;
I-2). definition input and output, the input of fuzzy controller is defined as:
(6)
(7)
The output of fuzzy controller is defined as the azimuth increment of tractor;
I-3). definition domain, the linguistic variable of input and output domain is defined respectively as:
(8)
The domain of fuzzy controller is defined as��,��,��; Membership function adopts and is uniformly distributed trigonometric function;
I-4). adopt fuzzy control rule as shown in the table:
Adopting minimum operational rule ambiguity in definition to contain the fuzzy relation of expression, the synthesis computing of fuzzy relation adopts greatly rule, and fuzzy parsing adopts centroid method;
I-5). obtain revolver speed, right wheel speed in path tracking procedureRemain unchanged; According to step i-4) in the azimuth increment of tractor of output, obtain revolver speed by equation below:
-(9)
Wherein parameter> 0, is meeting mechanical constraints<When, the Parallel parking of tractor-trailer mobile robot is realized by controlling the speed of revolver.
3. tractor-trailer mobile robot Parallel parking method according to claim 2, it is characterised in that: right wheel speed in step i-5)=100mm/s,=10��
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410194612.9A CN103963782B (en) | 2014-05-09 | 2014-05-09 | Tractor-trailer mobile robot Parallel parking method |
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| CN106354160B (en) * | 2016-09-20 | 2019-01-29 | 济南大学 | A kind of deflection control method when n section tractor-trailer mobile robot counter motion |
| CN107341964B (en) * | 2017-03-27 | 2019-11-05 | 小儒技术（深圳）有限公司 | A kind of method for detecting parking stalls and device |
| CN109657198B (en) * | 2017-10-11 | 2023-01-06 | 杭州海康机器人股份有限公司 | Robot calibration method and device and computer readable storage medium |
| CN108227715B (en) * | 2018-01-12 | 2020-12-04 | 上海海事大学 | Wave-resistant energy-saving unmanned ship path tracking method |
| WO2020011505A2 (en) * | 2018-07-12 | 2020-01-16 | Wabco Gmbh | Estimation of the trailer position relative to truck position and articulation angel between truck and trailer using an electromagnetic or optical sensor |
| CN109238284B (en) * | 2018-08-29 | 2021-03-02 | 北京农业智能装备技术研究中心 | Method for determining tool operating point in automatic navigation of agricultural machine |
| CN109387194B (en) * | 2018-10-15 | 2020-10-09 | 浙江明度智控科技有限公司 | Mobile robot positioning method and positioning system |
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| CN110083075B (en) * | 2019-05-15 | 2022-04-08 | 桂林电子科技大学 | Stability margin estimation method and control method for pull-type bicycle |
| CN112477849B (en) * | 2019-08-20 | 2022-03-25 | 北京图森智途科技有限公司 | Parking control method and device for automatic driving truck and automatic driving truck |
| CN112477861B (en) * | 2019-08-20 | 2022-05-24 | 北京图森智途科技有限公司 | Driving control method and device for automatic driving truck and automatic driving truck |
| CN110525517A (en) * | 2019-08-27 | 2019-12-03 | 共享智能铸造产业创新中心有限公司 | The motion control method of omnidirectional's heavy duty mobile robot |
| CN112950994B (en) * | 2019-12-10 | 2023-04-07 | 中移物联网有限公司 | Parking information processing method and device and parking space equipment |
| CN111487976B (en) * | 2020-05-03 | 2022-11-18 | 哈尔滨工程大学 | Backing track tracking method |
| CN111746525B (en) * | 2020-07-07 | 2022-06-21 | 东风柳州汽车有限公司 | Parking path planning method, device, equipment and storage medium |
| CN112172800B (en) * | 2020-11-27 | 2021-03-02 | 深兰人工智能(深圳)有限公司 | Articulated vehicle and tracking parking control method and device thereof |
| CN112572420B (en) * | 2020-12-21 | 2022-05-17 | 深兰人工智能(深圳)有限公司 | Articulated vehicle parking control method and device and articulated vehicle |
| CN113641159B (en) * | 2021-08-16 | 2024-04-12 | 佛山市毕佳索智能科技有限公司 | Trailer control method based on AGV |
| CN113581285B (en) * | 2021-08-25 | 2023-01-20 | 深圳亿嘉和科技研发有限公司 | Automatic recharging control method for hydraulic steering Ackerman robot |
| CN117719498B (en) * | 2024-02-08 | 2024-04-16 | 深圳市欧冶半导体有限公司 | Path planning method, path planning device, electronic equipment and storage medium |
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| KR100857330B1 (en) * | 2006-12-12 | 2008-09-05 | 현대자동차주식회사 | Parking Trace Recognition Apparatus and Automatic Parking System |
| CN103158703B (en) * | 2013-03-26 | 2016-04-06 | 北京经纬恒润科技有限公司 | A kind of control method of Parallel parking |
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