CN105466428B - A kind of attitude angle observation method based on robot location and velocity information - Google Patents
A kind of attitude angle observation method based on robot location and velocity information Download PDFInfo
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- CN105466428B CN105466428B CN201510848559.4A CN201510848559A CN105466428B CN 105466428 B CN105466428 B CN 105466428B CN 201510848559 A CN201510848559 A CN 201510848559A CN 105466428 B CN105466428 B CN 105466428B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
Abstract
The present invention designs a kind of method using position of mobile robot and velocity information observation attitude angle, solves the problems, such as measurement pose of mobile robot angle.1) state transformation is utilized, by robot kinematics' model conversion at a kind of special shape, eliminates the trigonometric function in model equation；2) under new state equation, the position and speed information structuring based on robot is directed to the observer of attitude angle；3) accumulation summation operation is carried out to observer dynamical equation, calculates the observation at robot pose angle, solve the problems, such as that robot pose angle accurately obtains.This method can estimate the attitude angle of mobile robot, no steady-state error, no drift well.
Description
Technical field
The invention belongs to electronic information, technical field of robot control, it is related to a kind of position using mobile robot, line
The method of speed and angular velocity information observation pose of mobile robot angle.
Background technique
Mobile robot is the important object of engineer application, control theory research, be comprising environment sensing, Dynamic Programming,
The integrated system of the technologies such as motion control.Research to mobile robot is to be related to pattern-recognition, artificial intelligence, automatically control etc.
Subject embodies the combination of computer technology and control technology, has very wide application value.
The control of mobile robot can be divided into a little calm, path trace, track following these three types problem.Solve moving machine
The control problem of device people needs to obtain the information such as position, speed and the attitude angle of mobile robot, wherein position and speed is very
It is easy to get, there is various schemes in practical applications, and the attitude angle of mobile robot is led frequently with inertia
Model plane block or reckoning algorithm obtain.Inertial navigation module often needs to spend because of the problems such as there are random errors, null offset
Plenty of time adjustment parameter inhibits drift, and the significant deficiency of reckoning algorithm is there are accumulated error, above two side
Method cannot be guaranteed that long-time stable obtains pose of mobile robot angle.
Summary of the invention
In order to solve the problems, such as above-mentioned accurate acquisition pose of mobile robot angle, the present invention proposes a kind of based on mobile machine
The attitude angle observation method of people position, linear velocity and angular velocity information realizes the accurate observation to pose of mobile robot angle.
The present invention includes the following contents:
(1) based on moveable robot movement model, state transformation is carried out, eliminates include in kinematics model three
Angle function；
(2) based on transformed model equation, the positive and negative situation of moveable robot movement linear velocity is considered respectively, is mentioned
A kind of observation method of the attitude angle for mobile robot out.
Detailed description of the invention
Fig. 1 program flow chart
The situation of change of Fig. 2 pose estimation error
Specific embodiment
The present invention is using moveable robot movement model as research object.
(1) model description and state transformation.A kind of kinematical equation of mobile robot is
Wherein (x, y) is coordinate of the mobile robot under inertial coodinate system, and θ is attitude angle, and (v, ω) is respectively to move
The linear velocity and angular speed of robot.Carrying out state transformation is
z1=x, z2=y, z3=coS θ, z4The dynamical equation that=sin θ<2>obtains new state is
By<3>it is found that the dynamical equation of new state is not aobvious to contain trigonometric function.
(2) state observer.Convolution<3>it is found that using new state dynamical equation design feature, consider when machine is mobile
The linear velocity of device people is non-negative situation, is directed to (z3, z4) observation method be
WhereinFor observer auxiliary variable,For (z3, z4) estimated value, L be adjustably controlled ginseng
Number, need to meet L > 0.Consider the case where linear velocity of mobile robot is negative, is directed to (z3, z4) observation method be
By<4><5>two formula, the observation at pose of mobile robot angle is obtained
(3) process is realized.By<4><5>two formula it is found that being needed in practice pairCarry out accumulation summation with
It obtainsIf the control period is dT.In k-th of calculating cycle, the movement linear velocity of mobile robot is first determined whether
It is positive and negative, then in (A+, A-) one is selected in algorithm
A+:
A-:
Wherein (vk, ωk) be mobile robot in k-th calculating cycle average linear velocity and angular speed,For kth
In a calculating cycleValue.It thus obtains in k-th of calculating cycle, the observation of attitude angle is
Fig. 1 relatively sharp process for illustrating the present invention and obtaining attitude angle observation first determines whether to move after program starting
The linear velocity of mobile robot it is positive and negative, if linear velocity is positive, in this calculating cycle use A+Algorithm, if linear velocity
It is negative, then uses A-Algorithm；Then (z is obtained3, z4) observation in k-th of calculating cycleIt further calculates
Observation of the attitude angle in k-th of calculating cycle is outThen appearance is circularly exported
State angle observation value.It is shown in tracking circular path in Fig. 2, attitude angle is estimated in mobile robot<1>tracking circular path
Count error situation of change because just having brought into operation in program, i.e., kth=1 calculating cycle when, attitude angle be it is unknown, will
Attitude angle observation algorithm correlated variables initial value zero setting, i.e.,
From Figure 2 it can be seen that by the calculated pose of mobile robot angle of observation method proposed by the present invention and real angle it
Between error extension converge to zero, that is to say, that attitude angle observation method proposed by the present invention need the several seconds time carry out from
It is dynamic to adjust, and gradually export the attitude angle information of accurate mobile robot.
The present invention utilizes the design feature of moveable robot movement model, first progress state transformation, eliminates model side
Trigonometric function in journey, when mobile robot wheel speed is respectively positive and negative, proposes to move then according to the dynamical equation of new state
The attitude angle observation method of mobile robot.Solve using inertial navigation module, can not be accurate for a long time in reckoning algorithm
The problem of measuring pose of mobile robot angle, facilitates the research of mobile robot and the development of control theory.
Claims (2)
1. a kind of observation method for pose of mobile robot angle, it is characterised in that by the kinematics side of the mobile robot
Journey is coordinately transformed, and obtains the dynamical equation of new state, by the dynamical equation of the new state, obtains the mobile machine
Second when the linear velocity of first state observer and the mobile robot when linear velocity of people is nonnegative value is negative value
State observer；The posture of the mobile robot is obtained according to the first state observer and second state observer
Angle；
Wherein, the dynamical equation of the new state are as follows:(z1,z2) be
Coordinate of the mobile robot under inertial coodinate system, (z3,z4) it is respectively posture cosine of an angle, sine value, v is linear velocity, and ω is
Angular speed；
When the linear velocity of the mobile robot is nonnegative value, the first state for obtaining the mobile robot is seen
Survey device are as follows:
WhereinFor auxiliary variable,For (z3,z4) estimated value, L be adjustably controlled parameter, L > 0；
When the linear velocity of the mobile robot is negative value, second state observation of the mobile robot is obtained
Device are as follows:
According to the first state observer and second state observer, the posture of the mobile robot is obtained
Angle, expression formula are as follows:
2. pose of mobile robot angle observation method according to claim 1, it is characterised in that by judging mobile machine
People moves the positive and negative of linear velocity, and sine, the cosine value at two states observer observation pose of mobile robot angle is respectively adopted, and
The observation at pose of mobile robot angle is obtained using arctan2 function
In above formula, (z1,z2) it is coordinate of the mobile robot under inertial coodinate system,For posture cosine of an angle, sine
Estimated value,For auxiliary variable,It isDerivative, (v, ω) is respectively the linear speed of mobile robot
Degree and angular speed, L are control parameter,For the observation of attitude angle.
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| CN201510848559.4A CN105466428B (en) | 2015-11-27 | 2015-11-27 | A kind of attitude angle observation method based on robot location and velocity information |
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| CN201510848559.4A CN105466428B (en) | 2015-11-27 | 2015-11-27 | A kind of attitude angle observation method based on robot location and velocity information |
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| CN105466428A CN105466428A (en) | 2016-04-06 |
| CN105466428B true CN105466428B (en) | 2019-09-20 |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104049637A (en) * | 2014-04-14 | 2014-09-17 | 西北工业大学 | Three-axis active posture control method for space tether-robot |
| CN104317299A (en) * | 2014-11-11 | 2015-01-28 | 东南大学 | Mixed control method based on trace tracking of wheeled mobile robot |
| CN104931045A (en) * | 2015-05-18 | 2015-09-23 | 哈尔滨工程大学 | Positioning coded disc-based positioning method of omni-directional mobile robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP5786633B2 (en) * | 2011-10-13 | 2015-09-30 | トヨタ自動車株式会社 | MOBILE BODY CONTROL DEVICE, ITS CONTROL METHOD, AND PROGRAM |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104049637A (en) * | 2014-04-14 | 2014-09-17 | 西北工业大学 | Three-axis active posture control method for space tether-robot |
| CN104317299A (en) * | 2014-11-11 | 2015-01-28 | 东南大学 | Mixed control method based on trace tracking of wheeled mobile robot |
| CN104931045A (en) * | 2015-05-18 | 2015-09-23 | 哈尔滨工程大学 | Positioning coded disc-based positioning method of omni-directional mobile robot |
Non-Patent Citations (2)
| Title |
|---|
| 不确定轮式移动机器人的任意轨迹跟踪;庞海龙;《控制理论与应用》;20140331;第31卷(第3期);285-292 * |
| 基于生存理论的非完整约束轮式机器人高速避障控制=;刘磊;《控制与决策》;20140930;第29卷(第9期);1623-1627 * |
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