CN108958249B - Ground robot control system and method considering unknown control direction - Google Patents
Ground robot control system and method considering unknown control direction Download PDFInfo
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- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0251—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
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Abstract
The invention discloses a ground robot control system and a control method considering unknown control direction, wherein the control system comprises a ground control station, a ground robot and a positioning and tracking device, wherein the positioning and tracking device captures the three-dimensional position of the ground robot and sends positioning information to the ground control station; the ground control station converts the positioning information into the position and the posture of the ground robot, calculates a next control target of the ground robot according to the action track of the ground robot and the position and the posture of the ground robot set by a user, and transmits the next control target to the ground robot; and the ground robot calculates the movement speed and the angular speed of the next moment according to the data sent by the ground control station, converts the movement speed and the angular speed into PWM waves and outputs the PWM waves to drive the robot to move to a target point. The system can solve the problem that the control direction of the ground robot is unknown (namely the direction of the control input anode and cathode and/or the size of the control input gain are uncertain), and can ensure that the motion of the robot achieves good and accurate control performance.
Description
Technical Field
The invention relates to the technical field of control, in particular to a control system and a control method of a ground mobile robot.
Background
Today, ground mobile robots are more and more intelligent and diversified, and mobile robots can perform many complex tasks. The user will typically control the movement of the robot as it performs the task. However, the current ground mobile robots in the market generally do not consider the control direction of the robot, which may cause the robot to control the south thill north rut. For example: the existing robot control technology comprises traditional PID control, fuzzy PID control, sliding mode variable structure control, neural network control and the like. Although these techniques can achieve a control effect basically, they often fail to achieve good control performance because the direction of the control input is not considered.
In actual control, the sampling time, the mathematical relationship between the control input and the actuator, and the sign of the control voltage all affect the direction or gain of the control input. If these unknown control coefficients are not considered, the control performance is not high.
Disclosure of Invention
The purpose of the invention is as follows: in order to overcome the defects in the prior art, the invention provides a ground robot control system considering unknown control directions, which can solve the problem that the control directions of the ground robot are unknown (namely the directions of control input positive and negative electrodes and/or the magnitude of control input gain are uncertain), and can ensure that the motion of the ground robot achieves good and accurate control performance.
Another object of the present invention is to provide a corresponding control method.
The technical scheme is as follows: in order to achieve the purpose, the invention adopts the following technical scheme:
a ground robot control system comprises a ground control station, a ground robot and a positioning and tracking device, wherein the positioning and tracking device captures the three-dimensional position of the ground robot and sends positioning information to the ground control station; the ground control station converts the positioning information into the position and the posture of the ground robot, calculates a next control target of the ground robot according to the action track of the ground robot and the position and the posture of the ground robot set by a user, and transmits the next control target to the ground robot; and the ground robot calculates the movement speed and the angular speed of the next moment according to the data sent by the ground control station, converts the movement speed and the angular speed into PWM waves and outputs the PWM waves to drive the robot to move to a target point.
In order to improve the man-machine interaction performance, the control system may further include a user device, such as an intelligent mobile terminal like a mobile phone or a tablet computer, which is wirelessly connected to the ground control station, and is used for a user to set the action track of the ground robot and send the action track to the ground control station.
The control method of the ground robot control system comprises the following steps:
the positioning tracking equipment captures the three-dimensional position of the ground robot and sends positioning information to the ground control station;
the ground control station converts the positioning information into the position and the posture of the ground robot;
the ground control station calculates a next control target of the ground robot according to the action track of the ground robot set by the user and the position and the posture of the ground robot;
the ground control station transmits the next control target, the current position and the posture to the ground robot;
the ground robot calculates the movement speed and angular speed of the next moment by running a control algorithm considering unknown control directions according to data sent by a ground control station, converts the movement speed and angular speed into PWM waves and outputs the PWM waves, and drives the robot to move to a target point.
Wherein the control algorithm considering the unknown control direction is in the form of:
x is the current time position of the ground robot, b is an unknown control coefficient, u (t) is control input, and the calculation formula is as follows:
u(t)＝N0(k)(x-x0)
N0(k)＝k2sin(k)
wherein x is0Is a target point to be reached by the ground robot, k is an intermediate quantity, gamma is a positive number, N0Is a type of Nussbaum function, and satisfies the following conditions:
sup (, inf (, x) represent the upper and lower limits, respectively.
Preferably, when the ground control station transmits the next control target, the current position and the posture to the ground robot, the ground control station also transmits verification information to the ground robot, the verification information comprises a tracking marker bit and a communication marker bit, after the ground robot receives data transmitted by the ground control station, data verification is performed according to the two marker bits, if the two marker bits are both 1, the verification is successful, and then the verified control target and the position information are used as input of a control algorithm.
Further, after the ground robot calculates the motion speed and the angular speed of the next moment, the speed and the angular speed information are converted into the speeds of the left wheel and the right wheel, the speeds of the left wheel and the right wheel are converted into PWM waves of the encoder to be output, the PWM waves are transmitted into the actuator, and the robot is driven to move to a target point.
Has the advantages that: the invention provides a ground robot control system and a ground robot control method considering unknown control directions. The system uses a Nussbaum-type function to effectively solve the problem of unknown control direction and improve the control performance of the robot.
Drawings
Fig. 1 is a block diagram of a control system of a ground robot according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a hardware structure of a ground robot according to an embodiment of the invention;
FIG. 3 is a flowchart illustrating an overall control method according to an embodiment of the present invention;
FIG. 4 is a flowchart illustrating the detailed operation steps of control using the control system according to an embodiment of the present invention.
Detailed Description
The technical scheme of the invention is further explained by combining the attached drawings.
Referring to fig. 1, a ground robot control system includes a ground control station, a ground robot, and a positioning and tracking device, where the positioning and tracking device captures a three-dimensional position of the ground robot and transmits positioning information to the ground control station; the ground control station converts the positioning information into the position and the posture of the ground robot, calculates a next control target of the ground robot according to the action track of the ground robot and the position and the posture of the ground robot set by a user, and transmits the next control target to the ground robot; and the ground robot calculates the movement speed and the angular speed of the next moment according to the data sent by the ground control station, converts the movement speed and the angular speed into PWM waves and outputs the PWM waves to drive the robot to move to a target point.
In order to improve the man-machine interaction performance, the control system may further include a user device, such as an intelligent mobile terminal like a mobile phone or a tablet computer, the user device is wirelessly connected to the ground control station, and is used for a user to set the action track of the ground robot and send the action track to the ground control station.
In one embodiment, the position tracking device calculates position information based on images, the image capture function is performed by a camera, and the calculation function is performed integrated into a ground control station. In the embodiment, 12 cameras are used and are divided into three rows, and four cameras are averagely arranged in each row and are arranged above the moving range of the ground robot.
The ground robot is a two-wheeled ground robot and can rotate and advance in any direction. Referring to fig. 2, it includes hardware structures of an embedded controller, a wireless communication system, an execution system, a storage system, a power supply system, and the like. The embedded controller is a core and is used for controlling the motion of the robot; the wireless communication system is responsible for the communication between the robot and the control station, and the execution system is responsible for executing the instruction of the controller to enable the robot to move to a specified position; the storage system is responsible for storing data, and the power supply system is responsible for supplying power to the robot.
Referring to fig. 3, the control method of the ground robot control system includes the following steps:
and step 100, the camera obtains an image, the image is transmitted to a ground control station, and the ground control station processes the image to obtain the three-dimensional position and the posture of the ground robot.
And 102, calculating a next control target of the ground robot by the ground control station according to the action track of the ground robot set by the user and the position and the posture of the ground robot.
And a group of discrete action tracks is taken as a control target of the robot. The program connects the control target and the current position coordinate point of the robot into a straight line segment, and compares the included angle between the line segment and the original point with the angle of the robot to obtain the rotating angle and the advancing distance required by the robot to reach the control target, and the rotating angle and the advancing distance are used as the next control target.
And 104, transmitting the next control target, the current position and the posture to the ground robot by the ground control station, and transmitting verification information to the ground robot.
The verification information comprises a tracking flag bit and a communication flag bit, the tracking flag bit is used for observing whether the ground robot is detected by the camera, and the communication flag bit is used for detecting whether the communication between the ground robot and the ground control station is normal. The two flags are set at both the ground control station and the ground robot, since both need to know whether the camera is tracking the robot and the communication status between them.
And 106, the ground robot receives data transmitted by the ground control station, and data verification is carried out according to the two flag bits of whether the ground robot is tracked and whether the communication is normal, so that the accuracy of the data is ensured.
If the two flag bits are both 1, the tracking to the robot and the communication establishment are respectively indicated, and the 0 is respectively indicated that the robot is not tracked and the communication establishment is not performed. If one flag bit is 0, the received data is discarded to wait for the next incoming.
The ground robot obtains a target point x after verification0And a robot current position x.
108, according to the target point x0And the current position x, and calculating the movement speed and the angular speed of the next moment by running a control algorithm considering the unknown control direction by a controller of the ground robot.
The ground mobile robot is a discrete system from the computer control perspective, and if only the control robot position is considered, the system dynamics model is as follows:
x is the current time position of the ground robot, and b is an unknown control coefficient. The control input is linear with the robot speed at each moment, related to the sampling time, the performance of the actuator, etc., so there is an unknown control coefficient b, b ≠ 0.
u (t) is a control input, which is calculated as follows:
u(t)＝N0(k)(x-x0)
N0(k)＝k2sin(k)
wherein x is0Is a target point to be reached by the ground robot, gamma is a positive number, k is an intermediate quantity, N0Is a kind of Nussbaum function, which needs to satisfy the following conditions:
sup (, inf (, x) represent the upper and lower limits, respectively. The function can effectively solve the problem of unknown control direction. Get
Then
Then
c is a constant. The characteristics of the Nussbaum can be known
Is bounded and therefore the robot can eventually reach the vicinity of the target point.
To find
And the integration is carried out on the result of the integration,
then, obtain N0(k)＝k2sin(k)，The control input u (t) N can be obtained0(k)(x-x0)。
The two-wheeled ground robot can rotate, so has an angle, can move in a two-dimensional space, and has a speed. The corresponding is two actuating mechanisms, one steering engine that can change the angle, one can be the motor of variable speed. What is obtained here is the next speed and angular velocity of the robot.
And 110, converting the calculated speed and angular speed information into two left and right wheel speeds by the ground robot, converting the two left and right wheel speeds into encoder PWM waves, and outputting the encoder PWM waves to drive the ground robot to move to a target point.
The velocity and angular velocity are converted into left and right velocities by the basic motion formula of the robot:
wherein v isRIs the right wheel speed, vLIs the left wheel speed, vCFor the calculated next step speed, omega, of the robotCIs the calculated angular velocity.
After two wheel speeds are obtained, PWM waves are output through an encoder. The PWM wave output by the encoder directly acts on the motor to drive the robot to act.
Referring to fig. 4, the use of the control system includes three phases. Firstly, calibration is carried out, the camera calibration is carried out for calibrating the camera precision so as to establish a space three-dimensional coordinate system, the rigid body calibration is carried out for making the robot as a point in the coordinate system, and therefore the position and posture information of the robot can be accurately captured. Then the user sets the action track of the robot, and finally the program is downloaded and run. The specific process is detailed below.
And step 200, establishing a space coordinate system. And (3) opening a ground control station and a camera system power supply, opening calibration software on the ground control station, removing all miscellaneous points in the camera view, removing all intelligent agents, and setting the spatial precision by using a positioning rod. And after the precision of each camera reaches 1000mm, establishing a space coordinate system.
And 202, calibrating an origin. And (4) placing the calibration scale at the original point to be calibrated, aligning the long edge to the ground control station, and calibrating the position of the original point in calibration software. And saving and exporting the coordinate system calibration file after the completion.
And 204, calibrating the rigid body of the ground robot in the coordinate system just calibrated.
In step 206, during the calibration process, the camera automatically identifies the signals transmitted by the positioning system in the robot, marks the signals as points, selects the points, and performs rigid body selection and setting. Then, the highest point of all the points is selected as a navigation point, and the height reduction processing is carried out on the point. And after all rigid body calibration is completed, exporting calibration files.
Step 208, the ground station control end: opening a Server engineering file in MATLAB software of the ground control station, loading a coordinate system calibration file and a rigid body calibration file which are just calibrated, setting an IP address of the ground control station and setting an action track. Or the user equipment is used for setting the action track of the ground robot and sending the action track to the ground control station.
Step 210, a ground robot end: and opening a Client engineering file in MATLAB software of the ground control station, starting a robot power supply, setting an IP address of the ground robot, and linking the ground control station and the ground robot.
And step 212, in the Client engineering file, opening a robot control module, and downloading a control algorithm program considering unknown control directions into the robot in the form of an MATLAB program.
And step 214, sequentially starting and operating the Server and the Client, wherein the Server and the wireless communication system on the robot are connected through WIFI.
And step 216, capturing the positioning information of the ground robot in real time by the camera, and transmitting the positioning information to the ground control station.
And step 218, converting the received information into coordinate and attitude information by the ground control station, and processing and calculating by combining with a preset action track to obtain a real-time control target.
And step 220, the ground control station transmits the real-time control target to the ground robot through a Wi-Fi protocol.
And step 222, the ground robot receives the control target and performs data verification.
And step 224, the ground robot takes the verified control target and the position information as the input of the control algorithm, outputs the position information of the robot at the next moment, and further obtains the speed and the angular speed of the ground robot.
Step 226, the ground robot converts the speed and angular speed information into two left and right wheel speeds, and then converts the two left and right wheel speeds into PWM waves to be output and transmitted into an actuator of the robot.
The ground robot will move at the given left and right wheel speeds, step 228.
The user can observe the moving track and the control effect of the ground robot on the ground control station or user equipment.
Claims (5)
1. The ground robot control system is characterized by comprising a ground control station, a ground robot and a positioning and tracking device, wherein the positioning and tracking device captures the three-dimensional position of the ground robot and sends positioning information to the ground control station; the ground control station converts the positioning information into the position and the posture of the ground robot, calculates a next control target of the ground robot according to the action track of the ground robot and the position and the posture of the ground robot set by a user, and transmits the next control target to the ground robot; the ground robot runs a control algorithm considering unknown control directions according to data sent by a ground control station, calculates the movement speed and angular speed of the next moment, converts the movement speed and angular speed into PWM waves to be output, and drives the robot to move to a target point, wherein the control algorithm considering the unknown control directions has the following form:
x is the current time position of the ground robot, b is an unknown control coefficient, and u (t) is control input;
the calculation formula of the control input u (t) is as follows:
u(t)＝N0(k)(x-x0)
N0(k)＝k2sin(k)
wherein x is0Is the target point to be reached by the ground robot, k is the intermediate quantity, gamma is the normal number, N0Is a type of Nussbaum function, and satisfies the following conditions:
sup (, inf (, x) represent the upper and lower limits, respectively.
2. The ground robot control system of claim 1, further comprising a user device coupled to the ground control station for a user to set a ground robot trajectory and send the trajectory to the ground control station.
3. The control method of a ground robot control system according to claim 1 or 2, characterized by comprising the steps of:
the positioning tracking equipment captures the three-dimensional position of the ground robot and sends positioning information to the ground control station;
the ground control station converts the positioning information into the position and the posture of the ground robot;
the ground control station calculates a next control target of the ground robot according to the action track of the ground robot set by the user and the position and the posture of the ground robot;
the ground control station transmits the next control target, the current position and the posture to the ground robot;
the ground robot calculates the movement speed and angular speed of the next moment by running a control algorithm considering unknown control direction according to data sent by a ground control station, converts the movement speed and angular speed into PWM waves and outputs the PWM waves, and drives the robot to move to a target point;
wherein the control algorithm considering the unknown control direction is in the form of:
x is the current time position of the ground robot, b is an unknown control coefficient, and u (t) is control input;
the calculation formula of the control input u (t) is as follows:
u(t)＝N0(k)(x-x0)
N0(k)＝k2sin(k)
wherein x is0Is the target point to be reached by the ground robot, k is the intermediate quantity, gamma is the normal number, N0Is a type of Nussbaum function, and satisfies the following conditions:
sup (, inf (, x) represent the upper and lower limits, respectively.
4. The method as claimed in claim 3, wherein the ground control station transmits the next control target, the current position and the attitude to the ground robot, and transmits verification information to the ground robot, the verification information includes a tracking flag bit and a communication flag bit, the ground robot performs data verification according to the two flag bits after receiving the data transmitted from the ground control station, and if the two flag bits are both 1, the verification is successful, and then the verified control target and the position information are used as the input of the control algorithm.
5. The method of claim 3, wherein the ground robot calculates a next moment movement speed and an angular speed, converts the speed and the angular speed information into left and right two-wheel speeds, converts the left and right two-wheel speeds into encoder PWM waves, outputs the encoder PWM waves, and transmits the encoder waves to the actuator.
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