CN108388241B - Path tracking method for mobile robot - Google Patents
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- G05D1/02—Control of position or course in two dimensions
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- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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Abstract
The invention discloses a path tracking method of a mobile robot, wherein the mobile robot comprises a left driving wheel, a right driving wheel and a universal wheel, and the method comprises the following steps: s1: setting a working path of the mobile robot; s2: setting a forward-looking point Pi according to the current direction theta i, the current speed Vi and the size L along the motion direction of the mobile robot; s3: determining adjacent discrete points Ai and Bi closest to the forward-looking point Pi on the working path; s4: calculating the distance Di between the forward-looking point Pi and the straight line AiBi; s5: calculating an included angle delta theta i between the current direction theta i and the straight line AiBi; s6: calculating the rotating speed difference delta Vi of the left driving wheel and the right driving wheel according to the distance Di and the included angle delta theta i; s7: and regulating the speed of the left driving wheel and the right driving wheel of the mobile robot according to Vi and delta Vi. Compared with the prior art, the technical scheme of the invention ensures that the error between the actual running track of the mobile robot and the set working path is smaller and the mobile robot moves more accurately.
Description
Technical Field
The present invention relates to a mobile robot, and more particularly, to a path tracking method for a mobile robot.
Background
With the continuous development of artificial intelligence technology and advanced manufacturing technology, mobile robots are more and more widely applied.
In order to ensure that work can be completed safely and efficiently, before the mobile robot works, a user needs to confirm a working boundary of the mobile robot or set a working path of the mobile robot. For a covering type robot such as a mowing robot, the mowing coverage rate can be improved by setting a mowing range boundary to cover a lawn boundary as much as possible; for the security patrol robot, the security patrol robot can walk according to the set working path as far as possible by setting the working path, so that a monitoring blind area is avoided.
Then, when an existing mobile robot (such as a mowing robot or a security patrol robot) works according to a planned path, the existing mobile robot is realized by combining an inertial navigation system and a sensor, and an actual moving track of the mobile robot deviates from a set working boundary or a working path.
There is therefore a need to provide a solution to the above problems.
Disclosure of Invention
One of the objectives of the present invention is to overcome the drawbacks of the background art, and to provide a method for tracking an installation path of a mobile robot, which specifically comprises the following steps:
a path tracking method of a mobile robot including left and right driving wheels and universal wheels, comprising the steps of: s1: setting a working path of the mobile robot; s2: setting a forward-looking point Pi according to the current direction theta i, the current speed Vi and the size L along the motion direction of the mobile robot; s3: determining adjacent discrete points Ai and Bi closest to the forward-looking point Pi on the working path; s4: calculating the distance Di between the forward-looking point Pi and the straight line AiBi; s5: calculating an included angle delta theta i between the current direction theta i and the straight line AiBi; s6: calculating the rotating speed difference delta Vi of the left driving wheel and the right driving wheel according to the distance Di and the included angle delta theta i; s7: and regulating the speed of the left driving wheel and the right driving wheel of the mobile robot according to Vi and delta Vi.
Further, in the optimization scheme of the present invention, the method further includes step S8: and returning to the step S2 after the preset time interval until the mobile robot completes the work path tracking.
Further, in one embodiment of the invention, the look-ahead point Pi is located directly in front of the mobile robot.
Further, the distance d between the forward-looking point Pi and the mobile robot is k1 Vi L, where k1 is a proportional coefficient based on the velocity.
Further, in an embodiment of the present invention, the step S4 includes: s41: acquiring coordinates of the forward-looking point Pi, the point Ai and the point Bi; s42: calculating a triangular area Si formed by the forward-looking point Pi, the point Ai and the point Bi; s43: calculating the distance Li between the point Ai and the point Bi; s44: the distance of the look-ahead point Pi to the line AiBi is calculated: di is 2 Si/Li.
Further, the step S42 and the step S43 may be interchanged.
Further, in an embodiment of the present invention, the step S6 is a step of calculating a difference Δ Vi between the rotational speeds of the left and right driving wheels by designing a wheel speed fuzzy controller, including: s61: fuzzifying the distance Di and the included angle delta theta i; s62: obtaining the expected speed difference of the steering wheel by querying a fuzzy control table; s63: and defuzzifying the expected steering wheel speed difference to obtain the left and right driving wheel speed difference delta Vi.
Further, the step S4 and the step S5 may be interchanged.
Further, in one embodiment of the present invention, the mobile robot is a lawn mowing robot.
Compared with the prior art, the technical scheme of the invention is that a look-ahead point related to the current direction and the current speed of the mobile robot and the length of the mobile robot along the motion direction is set, two adjacent discrete points closest to the look-ahead point on the working path are determined through the look-ahead point, the rotating speed difference of the left driving wheel and the right driving wheel of the mobile robot is determined by calculating the distance between a straight line determined by the two adjacent discrete points and the look-ahead point and the angle difference with the current direction of the mobile robot, and then the rotating speed of the left driving wheel and the right driving wheel is adjusted according to the rotating speed difference, so that the error between the actual running track of the mobile robot and the set working path is smaller.
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In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a flow chart of a preferred embodiment of the method of the present invention;
FIG. 2 is a flow diagram of sub-steps of step S4 of FIG. 1;
FIG. 3 is a flow diagram of sub-steps of step S6 of FIG. 1;
fig. 4 is a schematic diagram of path tracking for the method of the present invention.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings and specific embodiments, and it is to be understood that the embodiments described herein are only a part of the embodiments of the invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the description of the specific embodiments of the invention without inventive step, shall fall within the scope of protection of the invention, as defined by the claims.
The mobile robot comprises a control system, a sensor system, a driving system and a power supply system, wherein the control system is used for controlling the mobile robot to execute a specific task or action according to a preset program or a signal returned by the sensor system, the sensor system is used for detecting the external environment of the mobile robot or the working state of a part of the mobile robot and sending related information to the control system, the driving system is used for driving the mobile robot to move, the power supply system provides electric energy for each system of the mobile robot, and the mobile robot further comprises a functional module for executing the specific task.
Fig. 1 to 4 show a preferred embodiment of the present invention. In the present embodiment, the mobile robot is described by taking a mowing robot as an example, and a control system of the mowing robot in the present embodiment is an STM32 single chip microcomputer; the sensor system includes a gyroscope and an UWB (ultra wide band); the driving system comprises left and right driving wheels with the same size and positioned behind the mowing robot and universal wheels positioned in the center of the front of the mowing robot, and the left and right driving wheels are driven by a brushless motor driving chip MC33035 DW; the power supply system is a rechargeable lithium-hydrogen battery.
The following describes in detail a path tracking process of the lawn mowing robot in the present embodiment.
S1: and setting a working path of the mobile robot.
The method of the invention can build a map by itself based on the set working path of the robot mower, then set the working path (such as the working area boundary) of the robot mower, or send the planned map and the working path to the control system of the robot mower. The working path in this embodiment is composed of a series of discrete points, and the coordinates of each discrete point in the map are determined.
S2: and setting a forward-looking point Pi according to the current direction theta i, the current speed Vi and the size L along the motion direction of the mobile robot.
The mowing robot itself has a dimension L of a known quantity, specifically, when it is circular, L is its diameter, and when it is rectangular, L is the length in the current moving direction. The mowing robot acquires a current direction theta i in a map through a gyroscope, obtains coordinates (X0, YO) of the mowing robot in the map through a UWB mode, obtains rotation speeds of a left driving wheel and a right driving wheel through a speed measuring sensor (such as a grating for measuring speed), then selects an average rotation speed of the left driving wheel and the right driving wheel as a current speed Vi of the mowing robot, and sets a forward-looking point Pi (namely a central point of a connecting line of the left driving wheel and the right driving wheel and a connecting line of a universal wheel) in the right front of the mowing robot, wherein a forward-looking distance d between the forward-looking point Pi and the mowing robot is k1 Vil, the forward-looking distance d is a distance between the connecting central point of the left driving wheel and the connecting line of the right driving wheel and the forward-looking point Pi, k1 is a proportionality coefficient based on the speed, k1 is an empirical value obtained through simulation or experiment, and the value range of the empirical value is generally 20.
S3: and determining adjacent discrete points Ai and Bi which are closest to the forward-looking point Pi on the working path.
First, the coordinates (Xp, Yp) of the look-ahead point Pi in the map coordinate system need to be determined, and as shown in fig. 4, the coordinates (X) of the look-ahead point Pi can be obtained according to the relative relationship between the current point O of the mobile robot and the look-ahead point Pi corresponding to the current point O0+d*cosθi,YO+ d sin θ i) and then obtaining two adjacent discrete points Ai and Bi closest to the forward-looking point Pi according to the principle of closeness. The simplest method is as follows: a. selecting two adjacent discrete points on the working path, wherein the abscissa of one discrete point is larger than Xp, and the abscissa of the other discrete point is smaller than Xp; b. or two adjacent discrete points on the working path are selected, wherein the ordinate of one discrete point is larger than Yp, and the ordinate of the other discrete point is smaller than Yp.
S4: the distance Di between the look-ahead point Pi and the line AiBi is calculated.
As shown in fig. 2, in this embodiment, the specific steps of obtaining the distance Di between the look-ahead point Pi and the straight line AiBi are as follows: s41: acquiring coordinates of a look-ahead point Pi, a point Ai and a point Bi, wherein specifically, the coordinates of the look-ahead point Pi can be obtained in the step 3, and the coordinates of adjacent discrete points Ai and Bi can also be directly read; s42: calculating a triangular area Si formed by the forward-looking point Pi, the point Ai and the point Bi, specifically, Si ═ Xa + Yb + Xb ═ Yp + Xp Ya-Xa ═ Yp-Xp ═ Yb-Xb ×/2; s43: calculating between points Ai, BiThe distance Li, specifically, the distance Li between the points Ai and Bi ((Xa-Xb)2+(Ya-Yb)2)1/2(ii) a S44: the distance of the look-ahead point Pi to the line AiBi is calculated: di ═ 2 × Si/Li, specifically, according to the triangular area formula, one can derive: di is 2 Si/Li.
S5: and calculating an included angle delta theta i between the current direction theta i and the straight line AiBi.
Because the coordinates of the point Ai and the point Bi are known, the slope of the straight line AiBi is (Ya-Yb)/(Xa-Xb), the angle between the straight line AiBi and the X axis in the coordinate system can be obtained through a trigonometric function, and then the angle is subtracted from the current direction angle theta i of the mowing robot, so that the included angle delta theta i between the current direction theta i of the mowing robot and the straight line AiBi can be obtained.
S6: and calculating the rotating speed difference delta Vi of the left driving wheel and the right driving wheel according to the distance Di and the included angle delta theta i.
As shown in fig. 3, in this embodiment, the calculating the difference Δ Vi between the rotational speeds of the left and right driving wheels by designing the wheel speed fuzzy controller specifically includes: s61: fuzzifying the distance Di and the included angle delta theta i, carrying out proportional transformation on the continuous value in the continuous domain by a quantization factor by adopting a continuous domain discretization uniform quantization method, rounding the continuous value to an integer value of a discrete domain, namely rounding the integer value to the integer value of the discrete domain, namely, rounding the distance Di (K)DiDi), rounding int (K) the angle Δ θ iΔθiΔ θ i), wherein KDiAnd KΔθiThe parameter(s) is a proportional variation coefficient, the value of which can be obtained by simulation or experiment, and the value ranges are respectively KDi：2-10，KΔθi: 5-20 parts of; s62: inquiring through a fuzzy control table to obtain an expected steering wheel speed difference, specifically, inputting different discrete input quantities Di and delta theta i, and obtaining a clear control quantity, namely the expected steering wheel speed difference delta vi by combining the fuzzy control table; s63: defuzzification processing is carried out on the expected steering wheel speed difference delta Vi to obtain the left and right driving wheel speed difference delta Vi, and the conversion formula is that delta Vi is KΔvΔ vi, wherein KΔvIs a coefficient of proportionality whose value can be obtained by simulation or experiment, KΔvThe value ranges are as follows: 0.05-0.95.
S7: and regulating the speed of the left driving wheel and the right driving wheel of the mobile robot according to Vi and delta Vi.
As shown in FIG. 4, when the robot mower turns left, the rotation speed V of the left driving wheelleftVi- Δ Vi, the rotational speed V of the right drive wheelrightVi + Δ Vi; when the mowing robot turns right, the rotating speed V of the left driving wheelleftVi + Δ Vi, the rotational speed V of the right drive wheelrightVi- Δ Vi. Where Δ Vi may be a vector, its value may be positive or negative.
S8: and returning to the step S2 after the preset time interval until the mobile robot completes the work path tracking.
And after the left and right driving wheels of the mowing robot run for a period of time delta t according to the adjusted rotating speed, returning to the step S2. I.e. the current direction thetai+1Current speed Vi+1And setting another look-ahead point Pi along the dimension L in the direction of motion+1. In the present embodiment, the interval Δ t is negatively correlated with the current speed of the mowing robot (i.e. the average value of the rotating speeds of the left and right driving wheels), that is, the larger the current speed of the mowing robot is, the smaller Δ t is, the smaller the current speed is, the larger Δ t is, and the general expression is: and delta t is K2L/Vi, wherein K2 is a proportional coefficient and can be adjusted according to the length of the mowing robot in the moving direction.
The above-mentioned embodiments are merely examples of the present invention, which should not be construed as limiting the scope of the invention, and therefore all equivalent variations to the claims are intended to be included in the scope of the invention.
Claims (7)
1. A path tracking method of a mobile robot including left and right driving wheels and universal wheels, comprising the steps of:
s1: setting a working path of the mobile robot;
s2: setting a forward-looking point Pi according to the current direction theta i, the current speed Vi and the size L along the motion direction of the mobile robot;
s3: determining adjacent discrete points Ai and Bi closest to the forward-looking point Pi on the working path;
s4: calculating the distance Di between the forward-looking point Pi and the straight line AiBi;
s5: calculating an included angle delta theta i between the current direction theta i and the straight line AiBi;
s6: calculating the rotating speed difference delta Vi of the left driving wheel and the right driving wheel according to the distance Di and the included angle delta theta i;
s7: regulating the speed of the left driving wheel and the right driving wheel of the mobile robot according to Vi and delta Vi;
in step S2, the look-ahead point Pi is located right ahead of the mobile robot, and the distance d between the look-ahead point Pi and the mobile robot is k1 Vi L, where k1 is a proportional coefficient based on the velocity.
2. The path tracking method of a mobile robot according to claim 1, further comprising step S8: and returning to the step S2 after the preset time interval until the mobile robot completes the work path tracking.
3. The path tracking method of a mobile robot according to claim 1, wherein the step S4 includes:
s41: acquiring coordinates of the forward-looking point Pi, the point Ai and the point Bi;
s42: calculating a triangular area Si formed by the forward-looking point Pi, the point Ai and the point Bi;
s43: calculating the distance Li between the point Ai and the point Bi;
s44: the distance of the look-ahead point Pi to the line AiBi is calculated: di is 2 Si/Li.
4. The path tracking method of a mobile robot according to claim 3, wherein the step S42 and the step S43 are interchangeable.
5. The path tracking method of a mobile robot according to claim 1, wherein the step S6 is a step of calculating a difference Δ Vi between the rotational speeds of the left and right driving wheels by designing a wheel speed fuzzy controller, comprising:
s61: fuzzifying the distance Di and the included angle delta theta i;
s62: obtaining the expected speed difference of the steering wheel by querying a fuzzy control table;
s63: and defuzzifying the expected steering wheel speed difference to obtain the left and right driving wheel speed difference delta Vi.
6. The path tracking method of a mobile robot according to claim 1, wherein the step S4 and the step S5 are interchangeable.
7. The path tracking method of a mobile robot according to one of claims 1 to 6, characterized in that the mobile robot is a grass cutting robot.
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| CN111123904B (en) * | 2018-10-31 | 2023-07-18 | 深圳市优必选科技有限公司 | Path tracking method and terminal equipment |
| CN111941419B (en) * | 2019-05-15 | 2023-03-14 | 苏州科瓴精密机械科技有限公司 | Control method of self-moving robot and self-moving robot system |
| CN110154787B (en) * | 2019-06-27 | 2023-08-15 | 浙江亿控自动化设备有限公司 | Double-rudder-wheel unmanned carrier and control method thereof |
| CN111759232A (en) * | 2020-07-03 | 2020-10-13 | 江苏旭美特环保科技有限公司 | Floor cleaning machine sweeping path management method |
| CN112731933A (en) * | 2020-12-24 | 2021-04-30 | 江苏新冠亿科技有限公司 | AGV tracking control method and equipment for automatically planning path and storage medium |
| CN113985868B (en) * | 2021-10-09 | 2023-08-08 | 北京科技大学 | Layered path tracking control implementation method for wheeled mobile robot |
| CN115268449A (en) * | 2022-07-29 | 2022-11-01 | 格力博(江苏)股份有限公司 | Mower and calibration method thereof |
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Denomination of invention: Path tracking method for mobile robot Effective date of registration: 20220525 Granted publication date: 20210212 Pledgee: Bank of China Limited by Share Ltd. Guangzhou Panyu branch Pledgor: GUANGZHOU COAYU ROBOT Co.,Ltd. Registration number: Y2022980006324 |
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