CN104571129A - Method for determining heading in-place control track of patroller - Google Patents
Method for determining heading in-place control track of patroller Download PDFInfo
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- CN104571129A CN104571129A CN201410827873.XA CN201410827873A CN104571129A CN 104571129 A CN104571129 A CN 104571129A CN 201410827873 A CN201410827873 A CN 201410827873A CN 104571129 A CN104571129 A CN 104571129A
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- point
- arc
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- circle
- curvature
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Abstract
The invention discloses a method for determining a heading in-place control track of a patroller. The method comprises steps as follows: judging an initial heading in-place track, selecting a midway point of a smooth track and determining a final track. According to the method, point in-place and heading control are separated, the heading is adjusted in an on-site steering mode after point in-place, the detection efficiency is improved and the control complication is reduced.
Description
Technical field
The present invention relates to a kind of rover course to put in place and control track defining method, belong to Mobile Robotics Navigation control field.
Background technology
To specify course to arrive certain assigned address, be that rover Navigation Control one of requires.When current location and course known, need movement locus reasonable in design, move it to intended target position, and when arriving this position, course angle is designated value.Control track should meet: the first, entire motion track is made up of one or more arching trajectory (or straight line); The second, arching trajectory (or straight line) quantity is the least possible; 3rd, orbiting motion is level and smooth, avoids the situation that curvature is excessive.
The motion control method of existing mobile robot adopts point-to-point motion control mode, guarantee point in-placing precision mostly, does not have to consider the course problem after putting in place.
Summary of the invention
The technical problem to be solved in the present invention is: for overcoming the deficiencies in the prior art; propose a kind of rover course to put in place and control track defining method; to make rover meet while course requires, can with one to two arching trajectorys or straight line smooth motion to target location.
Technical solution of the present invention:
A kind of rover course puts in place and controls track defining method, and concrete steps are as follows:
(1) course put in place initial track judge
Note rover current point is A point, and impact point is B point;
Cross A, B at 2 and do arc, make itself and A point yaw direction tangent, be designated as arc 1, corresponding curvature is C
a; Cross A, B at 2 and do arc, make itself and B point yaw direction tangent, be designated as arc 2, corresponding curvature is C
b;
If C
a=C
b, arc 1 overlaps with arc 2, then the movement locus between A, B 2 is an arc or straight line, and the desired curvature of this track is C=C
a=C
b, expect that arc length is the arc length of arc 1 or arc 2, track has been determined;
If C
a≠ C
b, then step (2) is proceeded to;
(2) smooth track INTRM intermediate point is chosen
Cross A, B at 2 and do arc, make its curvature be C
m=(C
a+ C
b)/2, are designated as arc 3, and the mid point getting arc 3 is track INTRM intermediate point, is designated as a M;
(3) final track is determined
Relatively | C
a| with | C
b|,
If | C
a|≤| C
b|, then cross B, M at 2 and do circle, make itself and B point yaw direction tangent, remember that its round dot is O
b, cross A point and do circle, make itself and circle O
b-B and A point yaw direction is tangent, remembers that its round dot is O
a, circle O
a-A and circle O
bthe point of contact of-B is designated as P, O
a, P, O
bconllinear;
If | C
a| >|C
b|, then cross A, M at 2 and do circle, make itself and A point yaw direction tangent, remember that its round dot is O
a, cross B point and do circle, make itself and circle O
a-A and B point yaw direction is tangent, remembers that its round dot is O
b, circle O
a-A and circle O
bthe point of contact of-B is designated as P, O
a, P, O
bconllinear;
Movement locus now between A, B 2 is by two arcs or rectilinear(-al), and be respectively AP and BP, track has been determined.
The sign symbol of curvature is defined as: if arching trajectory round dot is positioned on the right side of current point, and now the corresponding rover of arc is turned right, and curvature is just; If arching trajectory round dot is positioned on the left of current point, now the corresponding rover of arc is turned left, and curvature is negative; If arching trajectory round dot is infinite point, track becomes straight line, and corresponding rover is kept straight on, and curvature is zero.
The present invention's advantage is compared with prior art:
(1) the present invention point is put in place and Heading control separate, point put in place after adjust course by pivot stud mode again, reduce detection efficiency, add control complexity;
(2) entire motion track of the present invention is level and smooth by one or more arching trajectory or rectilinear(-al), orbiting motion, there will not be the excessive situation causing control deviation to increase of curvature.
Accompanying drawing explanation
Fig. 1 is rover current location course and course, target location relation schematic diagram;
Fig. 2 is for determining track INTRM intermediate point M schematic diagram;
Fig. 3 is for determining motion track schematic diagram;
Fig. 4 is for determining movement locus schematic diagram.
Embodiment
Describe the present invention below in conjunction with drawings and the specific embodiments.
Known rover initial point position and course are (x
1, y
1, ψ
1)=(0,0,0 °), aiming spot and course are (x
2, y
2, ψ
2)=(-1,5,30 °).Determine the desired motion track of rover, step is as follows:
(1) computation bound curvature
Note rover current point is A point, and impact point is B point.
Cross A, B at 2 and do arc, make itself and A point yaw direction tangent, be designated as arc 1, corresponding curvature C
afor-0.0769; Cross A, B at 2 and do arc, make itself and B point yaw direction tangent, be designated as arc 2, corresponding curvature C
bbe 0.2589.
(2) track INTRM intermediate point M is determined
Cross A, B at 2 and do arc, curvature C
mbe 0.0910, be designated as arc 3, the mid point getting arc 3 is track INTRM intermediate point, is designated as a M, and coordinate is (2.4412 ,-0.7940).
(3) motion track is determined
Relatively | C
a| with | C
b|, have | C
a|≤| C
b|, then cross B, M at 2 and do circle, make itself and B point yaw direction tangent, round dot O
bfor (3.8699,0.9574), cross A point and do circle, make itself and circle O
b-B and A point yaw direction is tangent, round dot O
afor (0 ,-4.1387), circle O
a-A and circle O
bthe point of contact P of-B is (2.5030 ,-0.8426), O
a, P, O
bconllinear.
Movement locus now between A, B 2 is made up of two arcs, and the curvature being respectively arc AP and arc BP, AP is-0.2416, and arc length is the curvature of 2.6880, BP is 0.4424, and arc length is 2.6514.Track has been determined.Movement locus as shown in Figure 4.
Specific requirement can be clearly: the position coordinates of known rover current point and yaw direction (x
1, y
1, ψ
1) and the position coordinates of impact point and yaw direction (x
2, y
2, ψ
2), as shown in Figure 1, calculate curvature and the arc length of the one or more arching trajectorys (or straight line) connecting current point and impact point.
The sign symbol of its mean curvature is defined as: if arching trajectory round dot is positioned on the right side of current point, and now the corresponding rover of arc is turned right, and curvature is just; If arching trajectory round dot is positioned on the left of current point, now the corresponding rover of arc is turned left, and curvature is negative; If arching trajectory round dot is infinite point, track becomes straight line, and corresponding rover is kept straight on, and curvature is zero.
Claims (2)
1. rover course puts in place and controls a track defining method, and it is characterized in that, concrete steps are as follows:
(1) course put in place initial track judge
Note rover current point is A point, and impact point is B point;
Cross A, B at 2 and do arc, make itself and A point yaw direction tangent, be designated as arc 1, corresponding curvature is C
a; Cross A, B at 2 and do arc, make itself and B point yaw direction tangent, be designated as arc 2, corresponding curvature is C
b;
If C
a=C
b, arc 1 overlaps with arc 2, then the movement locus between A, B 2 is an arc or straight line, and the desired curvature of this track is C=C
a=C
b, expect that arc length is the arc length of arc 1 or arc 2, track has been determined;
If C
a≠ C
b, then step (2) is proceeded to;
(2) smooth track INTRM intermediate point is chosen
Cross A, B at 2 and do arc, make its curvature be C
m=(C
a+ C
b)/2, are designated as arc 3, and the mid point getting arc 3 is track INTRM intermediate point, is designated as a M;
(3) final track is determined
Relatively | C
a| with | C
b|,
If | C
a|≤| C
b|, then cross B, M at 2 and do circle, make itself and B point yaw direction tangent, remember that its round dot is O
b, cross A point and do circle, make itself and circle O
b-B and A point yaw direction is tangent, remembers that its round dot is O
a, circle O
a-A and circle O
bthe point of contact of-B is designated as P, O
a, P, O
bconllinear;
If | C
a| >|C
b|, then cross A, M at 2 and do circle, make itself and A point yaw direction tangent, remember that its round dot is O
a, cross B point and do circle, make itself and circle O
a-A and B point yaw direction is tangent, remembers that its round dot is O
b, circle O
a-A and circle O
bthe point of contact of-B is designated as P, O
a, P, O
bconllinear;
Movement locus now between A, B 2 is by two arcs or rectilinear(-al), and be respectively AP and BP, track has been determined.
2. a kind of rover course as claimed in claim 1 puts in place and controls track defining method, and it is characterized in that, the sign symbol of curvature is defined as: if arching trajectory round dot is positioned on the right side of current point, and now the corresponding rover of arc is turned right, and curvature is just; If arching trajectory round dot is positioned on the left of current point, now the corresponding rover of arc is turned left, and curvature is negative; If arching trajectory round dot is infinite point, track becomes straight line, and corresponding rover is kept straight on, and curvature is zero.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410827873.XA CN104571129B (en) | 2014-12-26 | 2014-12-26 | A kind of rover course controls track to determine method in place |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410827873.XA CN104571129B (en) | 2014-12-26 | 2014-12-26 | A kind of rover course controls track to determine method in place |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104571129A true CN104571129A (en) | 2015-04-29 |
| CN104571129B CN104571129B (en) | 2017-05-31 |
Family
ID=53087454
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410827873.XA Active CN104571129B (en) | 2014-12-26 | 2014-12-26 | A kind of rover course controls track to determine method in place |
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| CN (1) | CN104571129B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106598051A (en) * | 2016-12-13 | 2017-04-26 | 浙江嘉蓝海洋电子有限公司 | Sailing track control method based on power vector |
| CN108594852A (en) * | 2018-04-23 | 2018-09-28 | 成都信息工程大学 | A kind of mobile route computational methods of known starting point, terminal and the direction of motion |
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|---|---|---|---|---|
| JPH0861969A (en) * | 1994-08-24 | 1996-03-08 | Nippondenso Co Ltd | Vehicle running position display device |
| CN101077578A (en) * | 2007-07-03 | 2007-11-28 | 北京控制工程研究所 | Mobile Robot local paths planning method on the basis of binary environmental information |
| CN103760908A (en) * | 2014-01-03 | 2014-04-30 | 北京控制工程研究所 | Inspecting device closed loop tracking control method |
| CN103869820A (en) * | 2014-03-18 | 2014-06-18 | 北京控制工程研究所 | Ground navigation planning control method of rover |
| CN103970139A (en) * | 2014-05-09 | 2014-08-06 | 上海交通大学 | Robot continuous point position motion planning method and motion controller thereof |
-
2014
- 2014-12-26 CN CN201410827873.XA patent/CN104571129B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0861969A (en) * | 1994-08-24 | 1996-03-08 | Nippondenso Co Ltd | Vehicle running position display device |
| CN101077578A (en) * | 2007-07-03 | 2007-11-28 | 北京控制工程研究所 | Mobile Robot local paths planning method on the basis of binary environmental information |
| CN103760908A (en) * | 2014-01-03 | 2014-04-30 | 北京控制工程研究所 | Inspecting device closed loop tracking control method |
| CN103869820A (en) * | 2014-03-18 | 2014-06-18 | 北京控制工程研究所 | Ground navigation planning control method of rover |
| CN103970139A (en) * | 2014-05-09 | 2014-08-06 | 上海交通大学 | Robot continuous point position motion planning method and motion controller thereof |
Non-Patent Citations (1)
| Title |
|---|
| 郭戈: "移动机器人路径规划与环境绘图", 《机器人》 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106598051A (en) * | 2016-12-13 | 2017-04-26 | 浙江嘉蓝海洋电子有限公司 | Sailing track control method based on power vector |
| CN108594852A (en) * | 2018-04-23 | 2018-09-28 | 成都信息工程大学 | A kind of mobile route computational methods of known starting point, terminal and the direction of motion |
| CN108594852B (en) * | 2018-04-23 | 2021-03-30 | 成都信息工程大学 | Moving path calculation method with known starting point, end point and moving direction |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104571129B (en) | 2017-05-31 |
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