CN109557914A - A kind of automatic returning chair path following method based on pure tracing model - Google Patents
A kind of automatic returning chair path following method based on pure tracing model Download PDFInfo
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- CN109557914A CN109557914A CN201811276422.6A CN201811276422A CN109557914A CN 109557914 A CN109557914 A CN 109557914A CN 201811276422 A CN201811276422 A CN 201811276422A CN 109557914 A CN109557914 A CN 109557914A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
Abstract
The present invention relates to a kind of automatic returning chair path following methods based on pure tracing model, it is the following steps are included: (a) obtains preset global path, shape walking modes of the reading automatic returning chair in current path；(b) the automatic returning chair currently location information on local cost map is read, its position in global path is calculated and obtains localized target point set；(c) the starting point pose for handling the automatic returning chair calculates the angular deviation between the yaw angle of the automatic returning chair current location and local target point set and is averaged to it, pure tracing model is recycled to track preset global path；(d) ceaselessly judge the automatic returning chair either with or without arrival target point pose.And this method control thinking is simple, and calculation amount is small, is easy to computer programming realization, ensure that safety and stability to a certain extent, is suitble to industrially use.
Description
Technical field
The invention belongs to automatic returning chair fields, are related to a kind of path following method, and in particular to one kind is chased after based on pure
The automatic returning chair path following method of track model.
Background technique
The purpose of path trace (tracking) is to allow mobile automatic returning chair that can automatically generate a series of continuously smooths
Speed command, so that it is walked in the reference tracking error of permission all along previously given path, safely reach to mesh
Punctuate position.
Currently used track algorithm is broadly divided into two major classes: controlling based on control theory and based on geometry.Classical
Method based on control theory has: PID control, fuzzy control, sliding formwork control, Liapunov control, Model Predictive Control etc.
Deng.The general step of such methods is: analyzing the kinematics model of automatic returning chair, designs a reasonable controller, ask
Solve control rate.They often have very strong theoretical basis, and stability proves, but these methods usually all suffer from the pressure for adjusting ginseng
Power, some critical parameters directly affect the stability and robustness of system, it usually needs more computing cost ability
Obtain ideal effect.Relative to control theory method, it is based on geometric control, because its thinking is simple, is easy to computer reality
Now, the features such as physical significance is significant enjoys great popularity in mobile automatic returning chair field.What it was mainly explored is that movement is returned automatically
Geometrical relationship between position chair position and preset path, without complicated control theory knowledge.Classical method mainly has:
Pure tracking, vector tracking, CF tracking etc..Wherein it is pure tracking be with one section of circular arc come be fitted automatic returning chair current location and
The position of forward direction distance continuously generates one group of linear velocity and angular speed by calculating the curvature in path to drive automatic homing chair
Son pursues the point on path.
Above-mentioned algorithm can track straight line and curve well, and can guarantee that tracking error finally converges on a tolerable
Small constant.But these algorithms all do not account for the pose of the beginning and end of automatic returning chair, this can be direct or indirect
The realization of certain critical functions is influenced,；And for not accounting for safety at the turn of segmented linear point, but directly more yet
Curved process, this process cannot carry out safety guarantee.And automatic returning chair is towards commercial kitchen area, locating for its track algorithm
Environment be usually factory floor, warehouse etc. and the working time is usually very long, there is relatively single function, stability and safety
It is required that high.
Summary of the invention
A kind of automatic homing based on pure tracing model is provided the invention aims to overcome the deficiencies in the prior art
Chair path following method.
In order to achieve the above objectives, the technical solution adopted by the present invention is that: a kind of automatic homing chair based on pure tracing model
Subpath tracking, it the following steps are included:
(a) preset global path is obtained, reads automatic returning chair in the shape walking modes of current path；The shape walks mould
Formula is the mode that takes the air line or turns circular arc mode；
(b) the automatic returning chair currently location information on local cost map is read, calculates it on global road
Position on diameter simultaneously obtains localized target point set；
(c) the starting point pose for handling the automatic returning chair, calculates the yaw of the automatic returning chair current location
Angular deviation between angle and local target point set is simultaneously averaged it, recycles the preset global road of pure tracing model tracking
Diameter；
(d) ceaselessly judge that the automatic returning chair either with or without target point pose is reached, calculates current automatic homing chair
The difference of sub- yaw angle and target point yaw angle, calculating angular speed rotates the automatic returning chair i.e. towards the yaw angle of setting
It can.
Optimally, in step (a), when the shape walking modes are to take the air line mode, the global path is traversed, it is calculated
Adjacent two o'clock (xi,yi)(xi+1,yi+1) between slopeI=1 ... in formula, size (global_path), meter
Calculate slope differential seat angle βi=atan (ki)；Differential seat angle is traversed, β is worked asiDetermine that current point is turning point when > α, α is to allow angle in formula
The tolerance of deviation.
Further, in step (a), when the shape walking modes are to turn circular arc mode, the global path is traversed, is calculated
Its adjacent two o'clock (xi,yi)(xi+1,yi+1) between slopeI=1 ... in formula, size (global_path),
Calculate slope differential seat angle βi=atan (ki)；Differential seat angle is traversed, β is worked asiDetermine that current point is turning point when > α, α is to allow angle in formula
Spend the tolerance of deviation；Followed by Bezier to progress interpolation at the turning point.
Optimally, in step (b), the threshold value of the target point set is ε=max (L, W)/2, and L, W respectively indicate institute in formula
State the length and width of local cost map.
Optimally, in step (c), when handling the starting point pose of the automatic returning chair, 0 is set by linear velocity；And
And calculating angular speed rotates the automatic returning chair to localized target point set position.
Due to the above technical solutions, the present invention has the following advantages over the prior art: being chased after the present invention is based on pure
The automatic returning chair path following method of track model, by using the preset global path of pure tracing model tracking and ceaselessly
Rotate automatic returning chair towards the yaw angle of setting, so that the control of linear velocity and angular speed separates, although not same in this way
When control safety and stability that is high-efficient, but ensure that automatic returning chair；And turn round whole speed by
Automatic returning chair is calculated rather than the constant that sets, this ensure that automatic returning chair is not more curved when turning round, safety
Reliably, and the jump of steady, smooth trajectory, not speed；And this method control thinking is simple, and calculation amount is small, is easy to count
The programming of calculation machine is realized, ensure that safety and stability to a certain extent, is suitble to industrially use.
Detailed description of the invention
Attached drawing 1 is that the present invention is based on the flow charts of the automatic returning chair path following method of pure tracing model；
Attached drawing 2 is that the present invention is based on the classical two-wheeleds used in the automatic returning chair path following method of pure tracing model
Differential automatic returning chair motion model；
Attached drawing 3 is that the present invention is based on the motion model figures of the automatic returning chair path following method of pure tracing model.
Specific embodiment
The present invention is based on the automatic returning chair path following methods of pure tracing model, as shown in Figure 1, it includes following step
It is rapid:
(a) preset global path is obtained, reads automatic returning chair in the shape walking modes of current path；The shape walks mould
Formula is the mode that takes the air line or turns circular arc mode.
When the shape walking modes are to take the air line mode, the global path is traversed, its adjacent two o'clock (x is calculatedi,yi)
(xi+1,yi+1) between slopeI=1 ... in formula, size (global_path) calculate slope differential seat angle βi
=atan (ki)；Differential seat angle is traversed, β is worked asiDetermine that current point is turning point when > α, α is the tolerance for allowing angular deviation in formula.
When the shape walking modes are to turn circular arc mode, the global path is traversed, its adjacent two o'clock (x is calculatedi,yi)
(xi+1,yi+1) between slopeI=1 ... in formula, size (global_path) calculate slope differential seat angle βi
=atan (ki)；Differential seat angle is traversed, β is worked asiDetermine that current point is turning point when > α, α is the tolerance for allowing angular deviation in formula；
Followed by Bezier to progress interpolation at the turning point.
Using Bezier to progress interpolation at the turning point specifically: (11) setting turning distance lambda, according to turning
Point GiIndex and λ, calculate control point Ci,1, Ci,2Index, Res is the resolution ratio of local cost map, the turning point number that i is entire global path in formula,
There are two control points for each turning point；
(12) Bezier algorithm steps: input is global path, turning point and two control points；Algorithm iteration in total
NumberFor each iteration, with equal distance proportion, in C1,iGiA point T is found on line segment1,i,
In GiC2,iA point T is found on line segment2,i, then with equal distance proportion, in T1,iT2,iThe point O of interpolation is found on line segmentj,i,
Wherein j is the interpolation point number of current turning point, and i is turning point number, and wherein ratio is T1,iO1,i:T1,iT2,i=C1,iT1,i:
C1,iGi=GiT2,i:GiC2,i；
(13) all interpolation point and original route point (not comprising the point being interpolated) are obtained using the method that segmentation is read, had
Body is as follows: number of segment is l=2 × i+1 in total, and the number of iterations is l times.When l be even number, then be packed into straightway；When l be odd number, then
Loading arc segment, i.e. interpolation point (it is worth noting that, when being packed into straightway and curved section, beginning and end is identical, as long as
One pair of them).
(b) the automatic returning chair currently location information on local cost map is read, calculates it on global road
Position on diameter simultaneously obtains localized target point set；The threshold value of the target point set is ε=max (L, W)/2, and L, W distinguish table in formula
The length and width for showing the local cost map, illustrate localized target point set forever on local cost map.
(c) the starting point pose for handling the automatic returning chair, calculates the yaw of the automatic returning chair current location
Angular deviation between angle and local target point set is simultaneously averaged it, sets 0 for linear velocity, it is ensured that current automatic homing
Chair does not translate when turning；Calculating angular speed rotates automatic returning chair to localized target point set position, and which guarantee certainly
Safety of the dynamic playback chair in starting；Pure tracing model is recycled to track preset global path, specific as follows:
To distance before being calculated according to present speedV is the linear speed of current automatic returning chair in formula
Degree,For proportional gain；Maximum forward distance lookahead is setmax=v × t+ ζ and minimal forward distance lookaheadmin
=v × t- ζ, t is simulated time in formula, ζ is gain coefficient；According to the preceding position to distance and current automatic returning chair,
Localized target point is focused to find out the localized target point for current time needing to track；Automatic returning chair current location is calculated to part
Fitted arc curvature of a curve between target pointTurning radius isY is that localized target point exists in formula
Ordinate under current automatic returning chair position coordinates system；Then the linear velocity of current time automatic returning chair is calculatedα, β are parameter in formula.It can be seen that the linear velocity of automatic returning chair is related with fitting routines curvature, path is bent
Rate is bigger, and linear velocity is smaller when turning, ensure that automatic returning chair is not more curved when turning circular arc, can continue to very well after curved out
Ground tracks preset path；Then the angular velocity omega of current time automatic returning chair is calculatedt=vt×γt。
When taking the air line, ceaselessly judge automatic returning chair either with or without close to current turning point GiPosition, if arrived
Up to preceding η meters of current turning point, then slowing down；Deng arrival GiAfterwards, stop, starting to rotate, make automatic returning chair towards newly
Localized target point set, ceaselessly judge automatic returning chair either with or without reach GiPoint pose (position+angle), if meeting item
Part, then starting acceleration advance, (wherein the rotation of this section also has acceleration and deceleration, and the entire movement of such automatic returning chair is all
It can be very smooth).Ceaselessly judge the automatic returning chair target point G final either with or without arrivalfinalIf equally reaching target point
GfinalIt is η meters first, slow down, finally arrive safe and sound GfinalPoint position.Under the mode of taking the air line, pre-decelerating at turning point is arrived
It is rotated after up to position, then starting accelerates, and also linear velocity and angular speed is separately controlled, and rotary course is added and accelerates and subtract
Speed gives automatic returning chair certain buffering, ensure that safety of the automatic returning chair in turning.
When turning circular arc, the automatic returning chair target point G final either with or without arrival is ceaselessly judgedfinalPosition, if
Reach target point GfinalIt is η meters first, then slowing down, until the G that arrives safe and soundfinalPoint postpones stopping.In the case where turning camber line mode, from
Dynamic playback chair can calculate one group of linear velocity and angular speed driving is returned automatically in corner according to the bending degree of current path
Position chair is excessively curved, and whole speed of turning round is calculated by automatic returning chair and obtained, the constant not set, on the one hand protects in this way
It is more not curved when turning round to have demonstrate,proved automatic returning chair, securely and reliably, has on the other hand made automatic returning chair in turning process
It is very steady, smooth trajectory, the not jump of speed.
(d) ceaselessly judge that the automatic returning chair either with or without target point pose is reached, calculates current automatic homing chair
The difference of sub- yaw angle and target point yaw angle, calculating angular speed rotates the automatic returning chair i.e. towards the yaw angle of setting
It can.
The preferred embodiment of the invention is described in detail below in conjunction with attached drawing:
Embodiment 1
The present embodiment uses the movement mould on industrial indoor common two wheel guide robot automatic returning chair chassis shown in Fig. 2
Type (middle left and right two is driving wheel in Fig. 2, and universal wheel is not drawn), two wheels can only all move forward and backward, Bu Nengzhuan
To, it is seen that the motion model is nonholonomic restriction model, is unable to omnidirectional moving.Fig. 2 chain lines are the roads that left and right wheels are passed through
Diameter, subsequent time, automatic returning chair, with turning radius r, have turned θ under world coordinate system, wherein the wheel of automatic returning chair
Spacing is l, wheel diameter d.By simple geometrical principle it is found that the path length △ S that revolver is passed byl=(r-l/2) × θ, right wheel
The path length △ S to pass byr=(r+l/2) × θ, therefore, path length △ S=(the △ S that automatic returning chair is passed byl+△Sr)/2,
Angle △ θ=(the △ S turned overr-△Sl)/l, turning radiusAssuming that automatic returning chair is on the way low
Speed traveling, ignores the sliding of wheel on the ground, then kinematics model isWherein θ is to return automatically
The yaw angle of position chair, v is linear velocity, and w is acceleration.The pose P=[x y θ] at automatic returning chair current timeΤ, next
The pose P at momentt=[xt yt θt]Τ, position and attitude error Pe=Pt- P, therefore, error model isDerivation is carried out to it to obtain
Therefore, under the coordinate system of current automatic returning chair, the coordinate of localized target point G is (xg,yg), automatic homing
Chair current location to localized target point distance be L, red dotted line be matched curve, radius r, 1/ γ of curvature, central angle α,
From the figure 3, it may be seen that yg- r=r × cos (π-α), xg=r × sin (π-α).Above-mentioned two formula is arranged,Again by?
Curvature is
With the mobile automatic returning chair of the ATX50 of our company, the specific steps are as follows:
(a) preset global path is obtained, is directed to takes the air line and turn circular arc both of which to global path processing respectively:
Take the air line: traversal global path calculates the slope between adjacent two o'clock, calculates the corresponding angle of slope, traverses angle
Difference is spent, the point found out greater than 0.1 is turning point；Than if any a total of 100 points of a global path, then slope has
99, corresponding angle difference is also 99；
It turns circular arc: finding out turning point with the above method, Bezier interpolation is carried out to turning point, obtains curve point.In shellfish plug
In your interpolation, arbitrary distance proportion can choose, distance proportion selects smaller, and interpolation point is more, and path is closeer.Because each
The distance between path point is all 0.05m, therefore the distance proportion selected removes for 0.05 in the distance at control point to turning point.That
, the number of interpolation point can calculate manually in fact.For example that path had a turning point, the turning of setting just now
Distance is 1.0m, then distance proportion is exactly 0.05m:1m=0.05, the number of interpolation point is exactly 1/0.05+1=21, while shellfish
The number of Sai Er iteration is also 20 times.It is exactly 80 points after interpolation that is, 100 points of original route.After interpolation in curve point
Adjacent distance can be greater than 0.05m, but it is demonstrated experimentally that will not influence automatic returning chair safety and it is smoothly excessively curved.
(b) global path after will be processed gives local paths planning device, reads current automatic returning chair in part
Position of the automatic returning chair on path is estimated in position on cost map；If automatic returning chair is very from start position
Far, then starting point is set localized target point set by default, such benefit be automatic returning chair to initial position when, be not required to
It wants one to be scheduled near start position, can be any safe position.
(c) deviation between the current yaw angle of automatic returning chair and localized target point set, if it is greater than 1 °, rotation are calculated
The direction of automatic returning chair.After angle is less than 1 °, it is prepared to enter into subsequent step；To distance before calculating, so that preceding exist to distance
lookaheadminAnd lookaheadmaxBetween, it is ensured that any time can concentrate in localized target point can find a needs
The localized target point of tracking.Through testing, when automatic returning chair maximum speed is 0.3m/s, localized target point is in automatic homing
In front of chair between 0.8m~1.2m.Calculate curvature of the automatic returning chair current location to localized target point matched curve, meter
Calculate the linear velocity and angular speed of automatic returning chair under the curvature.In conjunction with taking the air line or turning circular arc mode, the condition of judgement has
Institute is different.It takes the air line under mode, need to judge whether close and reaches current turning point, slow down when close, after reaching turning point
Rotation, then further accelerates advance.It turns under circular arc mode, directly judges whether to approach or arrive at target point.Equally, close just to subtract
Speed stops after arrival, is prepared to enter into subsequent step.
(d) differential seat angle between the current yaw angle of automatic returning chair and target point yaw angle is calculated, direction is set here
Path direction finally judges whether to reach target point then rotating 180 ° after automatic returning chair reaches aiming spot
Appearance.Wherein, acceleration when rotation and deceleration can all be set, while maximum line velocity and angular speed is arranged, and can set vmax
=0.3m/s, vmin=0.1m/s.Automatic returning chair can accelerate to maximum speed in normally travel.
The above embodiments merely illustrate the technical concept and features of the present invention, and its object is to allow person skilled in the art
Scholar cans understand the content of the present invention and implement it accordingly, and it is not intended to limit the scope of the present invention, it is all according to the present invention
Equivalent change or modification made by Spirit Essence, should be covered by the protection scope of the present invention.
Claims (5)
1. a kind of automatic returning chair path following method based on pure tracing model, which is characterized in that it the following steps are included:
(a) preset global path is obtained, reads automatic returning chair in the shape walking modes of current path；The shape walking modes are
The mode that takes the air line turns circular arc mode；
(b) the automatic returning chair currently location information on local cost map is read, calculates it in global path
Position and obtain localized target point set；
(c) the starting point pose for handling the automatic returning chair, calculate the automatic returning chair current location yaw angle and
Angular deviation between localized target point set is simultaneously averaged it, and pure tracing model is recycled to track preset global path；
(d) ceaselessly judge that either with or without target point pose is reached, it is inclined to calculate current automatic returning chair for the automatic returning chair
The difference at boat angle and target point yaw angle, calculating angular speed rotates the automatic returning chair towards the yaw angle of setting.
2. according to claim 1 based on the automatic returning chair path following method of pure tracing model, it is characterised in that: step
Suddenly in (a), when the shape walking modes are to take the air line mode, the global path is traversed, its adjacent two o'clock (x is calculatedi,yi)
(xi+1,yi+1) between slopeI=1 ... in formula, size (global_path) calculate slope differential seat angle βi
=atan (ki)；Differential seat angle is traversed, β is worked asiDetermine that current point is turning point when > α, α is the tolerance for allowing angular deviation in formula.
3. the automatic returning chair path following method according to claim 1 or claim 2 based on pure tracing model, feature exist
In: in step (a), when the shape walking modes are to turn circular arc mode, the global path is traversed, its adjacent two o'clock (x is calculatedi,
yi)(xi+1,yi+1) between slopeI=1 ... in formula, size (global_path) calculate slope differential seat angle
βi=atan (ki)；Differential seat angle is traversed, β is worked asiDetermine that current point is turning point when > α, α is the tolerance for allowing angular deviation in formula
Degree；Followed by Bezier to progress interpolation at the turning point.
4. according to claim 1 based on the automatic returning chair path following method of pure tracing model, it is characterised in that: step
Suddenly in (b), the threshold value of the target point set is ε=max (L, W)/2, and L, W respectively indicate the length of the local cost map in formula
And width.
5. according to claim 1 based on the automatic returning chair path following method of pure tracing model, it is characterised in that: step
Suddenly in (c), when handling the starting point pose of the automatic returning chair, 0 is set by linear velocity；And calculate angular speed make it is described
Automatic returning chair is rotated to localized target point set position.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110631587A (en) * | 2019-09-26 | 2019-12-31 | 浙江圣奥家具制造有限公司 | Automatic homing chair composite path planning method |
| CN110955245A (en) * | 2019-12-09 | 2020-04-03 | 深圳市银星智能科技股份有限公司 | Path tracking method and device, mobile robot and non-transitory computer readable storage medium |
-
2018
- 2018-10-30 CN CN201811276422.6A patent/CN109557914A/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110631587A (en) * | 2019-09-26 | 2019-12-31 | 浙江圣奥家具制造有限公司 | Automatic homing chair composite path planning method |
| CN110631587B (en) * | 2019-09-26 | 2021-05-25 | 浙江圣奥家具制造有限公司 | Automatic homing chair composite path planning method |
| CN110955245A (en) * | 2019-12-09 | 2020-04-03 | 深圳市银星智能科技股份有限公司 | Path tracking method and device, mobile robot and non-transitory computer readable storage medium |
| CN110955245B (en) * | 2019-12-09 | 2021-06-08 | 深圳市银星智能科技股份有限公司 | Path tracking method and device, mobile robot and non-transitory computer readable storage medium |
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Application publication date: 20190402 |