CN109900273A - A kind of outdoor mobile robot guidance method and guidance system - Google Patents
A kind of outdoor mobile robot guidance method and guidance system Download PDFInfo
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Abstract
A kind of outdoor mobile robot guidance method and guidance system, current longitude, latitude, course angle including (1) calculating robot；(2) judge whether robot receives route programming result, i.e. target guiding path coordinate point set；(3) guided path is updated, guiding linear function is obtained；(4) lateral deviation Δ d and angular deviation Δ θ is calculated according to longitude, latitude, course angle and guiding linear function；(5) input Digital PID Controller is observed using Δ d and Δ θ as feedback, obtains control amount, as the input quantity of servo motor, mobile robot is driven to move by guided path；(6) the current longitude of calculating robot, latitude, course angle are updated；(7) judge whether robot moves to reach intermediate point；(8) judge whether to reach final goal point, terminate if reaching final goal point, complete robot guiding.The present invention can angle correction error, while correcting lateral deviation, not only adapt to roomy road, place, moreover it is possible to adapt to narrow road and environment.
Description
Technical field
The present invention relates to a kind of outdoor mobile robot guidance methods, belong to unmanned systems field.
Background technique
As " industry 4.0 " and the concept of " made in China 2025 " are put forward one after another, mobile robot technology is filled
Foot development.In recent years, mobile robot be widely used in logistics carry, sorting, nobody park, security protection is gone on patrol, is serviced
In field.Guidance technology is related to mobile robot operation as one of most important technology of Mobile Robot Control System
Safety, reliability and high efficiency.Related scholar mainly passes through vision, magnetic induction, laser, inertia, wirelessly determines both at home and abroad at present
The modes such as position, satellite navigation, laser radar carry out mobile robot guiding.
Yu Yufeng is utilized in " the intelligent vehicle monocular vision positioning based on road structure feature " that automation journal is delivered
Monocular camera extracts the lane line line feature in road, and the translation vector and spin moment of intelligent vehicle opposite lane line is calculated
Battle array is moved for feedback control intelligent vehicle, is realized that intelligent vehicle is guided according to lane line automatically and is advanced.Liu Shuai is in North China Electric Power University
The Intelligent Mobile Robot designed in master thesis " the high robust localization method of substation track machine people " along
The rail of laying moves, while track designated position Design Orientation needle, for positioning and controlling, robot can be laid in rail
Inspection work is carried out in range, pilot pin positioning accuracy reaches grade.Niu Zhifei is in North China Electric Power University's master thesis
The Intelligent Mobile Robot designed in " research and application of Mobile Robot for Substation Equipment Inspection system design scheme " uses magnetic
The mode of navigation will be laid with magnetic lineation on the route of robot ambulation, while being laid with RFID on magnetic lineation route and being determined
Position.The guiding control of these three modes is simple, easy to accomplish, but requires to carry out place transformation in working region, construction
It is at high cost, while route is limited, robot is inflexible.
Zhang Zhigang et al. " takes aim at the agricultural machinery self-navigation control of tracing model in national inventing patent based on double antenna GNSS and in advance
Method processed " in using segmented adaptive forward sight relevant to speed distance as the parameter taken aim in tracing model method in advance to agriculture
Machine carries out path following control.This methods engineering is easy to accomplish, can guarantee the direction of advance of carrier always towards target point,
Achieve the purpose that guiding control, but the precision of course angle depended on unduly, and can only angle correction deviation, cannot correct with
The lateral deviation of target trajectory, space waste needed for causing carrier movement.
Summary of the invention
Technology of the invention solves the problems, such as: having overcome the deficiencies of the prior art and provide a kind of outdoor mobile robot and has led
Draw method and system, receives planning path coordinate point set, be sequentially generated multistage guide path, while differential satellite/inertia group
Positioning and orientation is closed, lateral deviation and angular deviation of the mobile robot with respect to guide path is calculated, and feeds back to movement control
System eliminates deviation, realizes that mobile robot is advanced according to planning path.
The technical solution of the invention is as follows:
A kind of outdoor mobile robot guidance method, steps are as follows:
(1) the current of robot is calculated by the differential satellite/inertia combined navigation system being mounted in robot
Longitude λ, latitude L, course angle ψ；
(2) judge whether robot receives route programming result, i.e. target guiding path coordinate point set { (λ1,L1) ...,
(λn,Ln)}n≥2, guided path counting index is initialized as 2 if receiving and enters step (3), otherwise return step (1)；
(3) guided path is updated, guiding linear function is obtained；
(4) according to the longitude λ of differential satellite in robot/inertia combined navigation system output, latitude L, course angle ψ and
It guides linear function and calculates lateral deviation Δ d and angular deviation Δ θ；
(5) input Digital PID Controller is observed using Δ d and Δ θ as feedback, obtains control amount u (t), as servo electricity
The input quantity of machine, driving mobile robot are moved by guided path:
(6) differential satellite/inertia combined navigation system is enabled to update the current longitude λ of calculating robot, latitude L, course
Angle ψ；
(7) judge whether robot moves to reach intermediate point (λindex,Lindex), (8) are entered step if reaching, otherwise
Return step (4)；
(8) judge whether to reach final goal point (λn,Ln), terminate if reaching final goal point, completes robot and lead
Draw, index is otherwise enabled to add 1 and return step (3) update guided path.
The step (3) updates guided path, obtains guiding linear function, specifically:
(3.1) starting point of guided path is (λindex-1,Lindex-1), terminal is (λindex,Lindex)；
(3.2) linear function a λ+bL+1=0 is guided according to starting point and endpoint calculation:
The step (4) calculates lateral deviation Δ d and angular deviation Δ θ, specifically:
Digital PID Controller is expressed as in step (5)
Wherein, Kp、Ki、KdFor pid control parameter, obtained by test adjustment；E (t) is the departure of moment t.
The condition that step (7) judgement reaches is as follows:
Robot and target point (λindex,Lindex) the distance between be not more than preset value M, it may be assumed that
The value range of the preset value M is 0.2m~1m.
The step (8) judges whether to reach final goal point (λn,Ln) judge whether index is equal to n, if index=
N then reaches final goal point.
A kind of guidance system realized based on the outdoor mobile robot guidance method, comprising:
Integrated navigation resolves module: based on differential satellite/inertia combined navigation system by being mounted in robot
Calculation obtains current longitude λ, latitude L, the course angle ψ of robot；
Path planning discrimination module: for judging whether robot receives route programming result, i.e., target guiding path is sat
Punctuate collection { (λ1,L1) ..., (λn,Ln)}n≥2, guided path counting index is initialized as 2 if receiving；
Guided path update module: for updating guided path, guiding linear function is obtained；
Deviation computing module: for according to differential satellite in robot/inertia combined navigation system output longitude λ, latitude
It spends L, course angle ψ and guiding linear function calculates lateral deviation Δ d and angular deviation Δ θ；
Pid control module: for observing input Digital PID Controller for Δ d and Δ θ as feedback, control amount u is obtained
(t), as the input quantity of servo motor, mobile robot is driven to move by guided path；
Path midpoint discrimination module: for judging whether robot moves to reach intermediate point (λindex,Lindex)；
Path termination discrimination module: final goal point (λ is reached for judging whethern,Ln), if reaching final goal point
Terminate robot guiding.
The guided path update module updates guided path, obtains guiding linear function, specifically:
(3.1) starting point of guided path is (λindex-1,Lindex-1), terminal is (λindex,Lindex)；
(3.2) linear function a λ+bL+1=0 is guided according to starting point and endpoint calculation:
Deviation computing module calculates lateral deviation Δ d and angular deviation Δ θ, specifically:
Digital PID Controller is expressed as
Wherein, Kp、Ki、KdFor pid control parameter, obtained by test adjustment；E (t) is the departure of moment t.
The condition that discrimination module judgement in path midpoint reaches is as follows:
Robot and target point (λindex,Lindex) the distance between be not more than preset value M, it may be assumed that
Path termination discrimination module judges whether robot reaches final goal point (λn,Ln), specially judge that index is
It is no to be equal to n, final goal point is reached if index=n.
Compared with the prior art, the invention has the advantages that:
(1) tradition is limited to by modes, scopes of activities such as visual guidance tracking lane line, laying rail, laying tapes
The arrangement range of lane line, rail, tape, while construction cost height is also inflexible, the present invention can cover the ground surveyed and drawn
Figure range, compared to add lane line be easier, it is more flexible；
(2) guidance method of existing satellite/inertia combination is protected by the way of target-seeking guiding by angle correction error
It demonstrate,proves robot to advance towards target point always, therefore movable road needs sufficiently wide or coordinate point set intensive enough, this
Invention can angle correction error, while correcting lateral deviation, not only adapt to roomy road, place, moreover it is possible to adapt to narrow road
Road and environment.
Detailed description of the invention
Fig. 1 is robot moving system block diagram；
Fig. 2 is present invention guiding parameter schematic diagram；
Fig. 3 is the method for the present invention flow chart；
Fig. 4 is mobile effect diagram.
Specific embodiment
A specific embodiment of the invention is further described in detail with reference to the accompanying drawing.
Guidance system of the invention is by electronic map, path planning system, deviation computing unit, differential satellite/inertia group
Navigation system composition is closed, as shown in Figure 1.Electronic map includes that mapping obtains several latitude and longitude coordinates collection and the seat in moving range
Connectivity between mark.The longitude and latitude and target point that path planning system is calculated according to electronic map, guidance system pass through
Latitude generates planning path.Path is made of the coordinate points of a sequence, and coordinate point sequence is sent to deviation calculating in order
Unit.Deviation computing unit generates multistage according to planning coordinates point set and guides straight line, according to differential satellite/inertia combination machine
People's longitude and latitude and course angle calculate lateral deviation, the angular deviation of opposite guiding straight line, as shown in Fig. 2, segmentation is guided, together
When according to lateral deviation, angular deviation calculate control amount, closed loop eliminate deviation, realize mobile robot guided according to programme path
Movement.It is flexible using the moveable robot movement of this method, and without being transformed to use environment, reduce cost；This method
It, not only can be with the angular deviation of corrected range target point, moreover it is possible to the lateral distance of corrected range guide path convenient for engineer application
Deviation, space hold are few.
The warp of planning path coordinate point set, differential satellite receiver that deviation computing unit RX path planning system is sent
The acceleration and angular speed of latitude and inertial measurement combination, calculating robot are inclined with respect to the lateral deviation of planning path and angle
Difference, driving motor eliminate deviation, realize that robot is travelled along planning path, detailed operation process is as shown in Figure 3:
(1) the current of robot is calculated by the differential satellite/inertia combined navigation system being mounted in robot
Longitude λ, latitude L, course angle ψ；Longitude, latitude, course angle are resolved by the inertial navigation period inside integrated navigation system, and tied
Close differential satellite navigation observation longitude, latitude, resolving is combined by Kalman filter, obtain high-precision longitude,
Latitude, course angle.
(2) judge whether robot receives route programming result, i.e. target guiding path coordinate point set { (λ1,L1) ...,
(λn,Ln)}n≥2, guided path counting index is initialized as 2 if receiving and enters step (3), otherwise return step (1)；
Combining target guide path coordinate point set is provided by path planning system, as shown in Fig. 1.Path planning system is according to seat
The electronic map of punctuate and connectivity is calculated a little using path planning algorithm, such as A* algorithm, dijkstra's algorithm etc.
To the optimal path of point.
(3) guided path is updated, obtain guiding linear function: guiding linear function determines that the principle of straight line obtains according to two o'clock
It arrives.
(3.1) starting point of guided path is (λindex-1,Lindex-1), terminal is (λindex,Lindex)；
(3.2) linear function a λ+bL+1=0 is guided according to starting point and endpoint calculation:
(4) according to the longitude λ of differential satellite in robot/inertia combined navigation system output, latitude L, course angle ψ and
Guide linear function and calculate lateral deviation Δ d and angular deviation Δ θ: departure is obtained according to the geometrical relationship between point and straight line
It arrives.
(5) input Digital PID Controller is observed using Δ d and Δ θ as feedback, obtains control amount u (t), as servo electricity
The input quantity of machine, driving mobile robot are moved by guided path: Digital PID Controller according to the current value of departure, accumulate
Control amount is calculated in value, difference value and corresponding pid parameter.Control amount u (t) is according to the motion control mould of mobile robot
Type determines, such as c can be the forward speed v of mobile robotf, dextrad speed vr, course angular velocity omegayawComposition, i.e. u (t)=
[vf vr ωyaw]T。
Wherein Kp、Ki、KdFor pid control parameter, obtained by test adjustment；E (t) is the departure of moment t.
(6) differential satellite/inertia combined navigation system is enabled to update the current longitude λ of calculating robot, latitude L, course
Angle ψ；
(7) judge whether robot moves to reach intermediate point (λindex,Lindex), (8) are entered step if reaching, otherwise
Return step (4):
Robot and target point (λindex,Lindex) the distance between be not more than preset value M, it may be assumed that
The value range of preset value M is 0.2m~1m.
(8) judge whether to reach final goal point (λn,Ln), that is, judge whether index is equal to n, is reached if index=n
Final goal point.Terminate if reaching final goal point, completes robot guiding, index is otherwise enabled to add 1 and return step (3)
Update guided path.
Further, the present invention also proposes a kind of outdoor mobile robot guidance system, comprising:
Integrated navigation resolves module: based on differential satellite/inertia combined navigation system by being mounted in robot
Calculation obtains current longitude λ, latitude L, the course angle ψ of robot；
Path planning discrimination module: for judging whether robot receives route programming result, i.e., target guiding path is sat
Punctuate collection { (λ1,L1) ..., (λn,Ln)}n≥2, guided path counting index is initialized as 2 if receiving；
Guided path update module: for updating guided path, guiding linear function is obtained；
Deviation computing module: for according to differential satellite in robot/inertia combined navigation system output longitude λ, latitude
It spends L, course angle ψ and guiding linear function calculates lateral deviation Δ d and angular deviation Δ θ；
Pid control module: for observing input Digital PID Controller for Δ d and Δ θ as feedback, control amount u is obtained
(t), as the input quantity of servo motor, mobile robot is driven to move by guided path；
Path midpoint discrimination module: for judging whether robot moves to reach intermediate point (λindex,Lindex)；
Path termination discrimination module: final goal point (λ is reached for judging whethern,Ln), if reaching final goal point
Terminate robot guiding.
Present invention tradition relatively leans on the mode of visual guidance, the body of a map or chart surveyed and drawn can be covered, compared to adding lane
Line is easier, is more flexible；The present invention can angle correction error, while correcting lateral deviation, not only adapt to roomy road, field
Ground, moreover it is possible to adapt to narrow road and environment.
Certain outdoor robot guiding movement test uses the above method and system, it is therefore an objective to allow mobile robot according to rule
The path drawn carries out guiding movement, and mobile effect is as shown in figure 4, the motion track of visual robot is essentially two map references
Between straight line, essentially coincided with guide path, achieve the purpose that guiding control.
The content that description in the present invention is not described in detail belongs to the well-known technique of professional and technical personnel in the field.
Claims (10)
1. a kind of outdoor mobile robot guidance method, it is characterised in that steps are as follows:
(1) the current longitude of robot is calculated by the differential satellite/inertia combined navigation system being mounted in robot
λ, latitude L, course angle ψ；
(2) judge whether robot receives route programming result, i.e. target guiding path coordinate point set { (λ1,L1) ..., (λn,
Ln)}n≥2, guided path counting index is initialized as 2 if receiving and enters step (3), otherwise return step (1)；
(3) guided path is updated, guiding linear function is obtained；
(4) according to differential satellite in robot/inertia combined navigation system output longitude λ, latitude L, course angle ψ and guiding
Linear function calculates lateral deviation Δ d and angular deviation Δ θ；
(5) input Digital PID Controller is observed using Δ d and Δ θ as feedback, control amount u (t) is obtained, as servo motor
Input quantity, driving mobile robot are moved by guided path:
(6) differential satellite/inertia combined navigation system is enabled to update the current longitude λ of calculating robot, latitude L, course angle ψ；
(7) judge whether robot moves to reach intermediate point (λindex,Lindex), (8) are entered step if reaching, otherwise return to step
Suddenly (4)；
(8) judge whether to reach final goal point (λn,Ln), terminate if reaching final goal point, completes robot guiding, it is no
Index is then enabled to add 1 and return step (3) update guided path.
2. a kind of outdoor mobile robot guidance method according to claim 1, it is characterised in that: the step (3) is more
New guided path obtains guiding linear function, specifically:
(3.1) starting point of guided path is (λindex-1,Lindex-1), terminal is (λindex,Lindex)；
(3.2) linear function a λ+bL+1=0 is guided according to starting point and endpoint calculation:
3. a kind of outdoor mobile robot guidance method according to claim 1, it is characterised in that: step (4) meter
Lateral deviation Δ d and angular deviation Δ θ is calculated, specifically:
4. a kind of outdoor mobile robot guidance method according to claim 1, it is characterised in that: digital in step (5)
PID controller is expressed as
Wherein, Kp、Ki、KdFor pid control parameter, obtained by test adjustment；E (t) is the departure of moment t.
5. a kind of outdoor mobile robot guidance method according to claim 1, it is characterised in that: the step (7) is sentenced
The disconnected condition reached is as follows:
Robot and target point (λindex,Lindex) the distance between be not more than preset value M, it may be assumed that
6. a kind of outdoor mobile robot guidance method according to claim 5, it is characterised in that: the preset value M's
Value range is 0.2m~1m.
7. a kind of outdoor mobile robot guidance method according to claim 5, it is characterised in that: the step (8) is sentenced
It is disconnected whether to reach final goal point (λn,Ln) judge whether index is equal to n, final goal point is reached if index=n.
8. a kind of guidance system realized based on outdoor mobile robot guidance method described in claim 1, it is characterised in that
Include:
Integrated navigation resolves module: calculating for differential satellite/inertia combined navigation system by being mounted in robot
To current longitude λ, latitude L, the course angle ψ of robot；
Path planning discrimination module: for judging whether robot receives route programming result, i.e. target guiding path coordinate point
Collect { (λ1,L1) ..., (λn,Ln)}n≥2, guided path counting index is initialized as 2 if receiving；
Guided path update module: for updating guided path, guiding linear function is obtained；
Deviation computing module: for according to the longitude λ of differential satellite in robot/inertia combined navigation system output, latitude L,
Course angle ψ and guiding linear function calculate lateral deviation Δ d and angular deviation Δ θ；
Pid control module: for observing input Digital PID Controller for Δ d and Δ θ as feedback, control amount u (t) is obtained, is made
For the input quantity of servo motor, mobile robot is driven to move by guided path；
Path midpoint discrimination module: for judging whether robot moves to reach intermediate point (λindex,Lindex)；
Path termination discrimination module: final goal point (λ is reached for judging whethern,Ln), terminate if reaching final goal point
Robot guiding.
9. guidance system according to claim 8, it is characterised in that: the guided path update module updates guiding road
Line obtains guiding linear function, specifically:
(3.1) starting point of guided path is (λindex-1,Lindex-1), terminal is (λindex,Lindex)；
(3.2) linear function a λ+bL+1=0 is guided according to starting point and endpoint calculation:
Deviation computing module calculates lateral deviation Δ d and angular deviation Δ θ, specifically:
Digital PID Controller is expressed as
Wherein, Kp、Ki、KdFor pid control parameter, obtained by test adjustment；E (t) is the departure of moment t.
10. guidance system according to claim 8, it is characterised in that: the condition that discrimination module judgement in path midpoint reaches
It is as follows:
Robot and target point (λindex,Lindex) the distance between be not more than preset value M, it may be assumed that
Path termination discrimination module judges whether robot reaches final goal point (λn,Ln), specially judge index whether etc.
In n, final goal point is reached if index=n.
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| CN114234968A (en) * | 2021-12-17 | 2022-03-25 | 江西洪都航空工业集团有限责任公司 | Autonomous navigation method of mobile robot based on A star algorithm |
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| CN114234968B (en) * | 2021-12-17 | 2023-12-05 | 江西洪都航空工业集团有限责任公司 | Mobile robot autonomous navigation method based on A star algorithm |
| CN115328135A (en) * | 2022-08-16 | 2022-11-11 | 上海联适导航技术股份有限公司 | Scribing robot calibration and scribing method and device, electronic equipment and scribing robot |
| CN116466589A (en) * | 2023-04-26 | 2023-07-21 | 长春理工大学 | Path tracking control method and device based on active disturbance rejection model, storage medium and electronic equipment |
| CN116466589B (en) * | 2023-04-26 | 2024-02-09 | 长春理工大学 | Path tracking control method and device based on active disturbance rejection model, storage medium and electronic equipment |
| CN116300969A (en) * | 2023-05-16 | 2023-06-23 | 山东商业职业技术学院 | Path tracking method of mobile robot |
| CN116300969B (en) * | 2023-05-16 | 2023-08-11 | 山东商业职业技术学院 | Path tracking method of mobile robot |
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