CN110231816A - Control method, apparatus, robot and the storage medium of robot ambulation - Google Patents
Control method, apparatus, robot and the storage medium of robot ambulation Download PDFInfo
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Classifications
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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
-
- 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
- G05D1/02—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
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
-
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
Abstract
The present invention provides a kind of method, apparatus, robot and storage medium for controlling robot ambulation.This method comprises: determining the walking error at current time according to the actual position coordinate at robot current time, the actual heading angle at current time, the current time corresponding reference course angle of reference position coordinate and current time on reference position on reference locus；First distance, second distance of the mass center away from the second steering wheel of itself according to walking error and reference linear velocity and reference steering angle speed and the mass center of itself in current curve away from the first steering wheel, determine that the first object linear velocity of the first steering wheel and first object beat angle, the second target linear velocity of the second steering wheel and the second target beat angle；It controls the first steering wheel and beats angle and the walking of first object linear velocity according to first object, the second steering wheel beats angle according to the second target and the second target linear velocity is walked.The robot flexibility ratio of this method control is higher, and lower to walking environmental requirement, and the scope of application is wider.
Description
Technical field
The present invention relates to robot field, more particularly to a kind of method, apparatus for controlling robot ambulation, robot and
Storage medium.
Background technique
With the continuous development of information technology, robot is in such as electric business logistics, factory's material carrying, military explosive, disaster
The various industries such as rescue and home services are widely applied.Since what the wheeled robot based on inertial navigation used is used to
Property navigation mode it is not high to environmental requirement, and wheeled robot has manipulation convenient and therefore the characteristics such as motion stabilization are based on
Artificially above-mentioned various industries provide more convenient and fast service to the wheel type machine of inertial navigation.
In the conventional technology, the walking of the wheeled robot based on inertial navigation is usually controlled by the way of differential.
But in the walking process of the wheeled robot based on inertial navigation, by the base of traditional control method control
In inertial navigation wheeled robot wheel can only front and back rotation, therefore, the wheeled robot based on inertial navigation it is flexible
Spend not strong and more harsh to walking environmental requirement, narrow scope of application.
Summary of the invention
Based on this, it is necessary to it is not strong for the flexibility ratio of the wheeled robot based on inertial navigation, and walking environment is wanted
It asks more harsh, the problem of narrow scope of application, provides a kind of method, apparatus, robot and storage for controlling robot ambulation
Medium.
In a first aspect, the embodiment of the present invention provides a kind of method for controlling robot ambulation, comprising:
According to the actual position coordinate at the robot current time, the actual heading angle at the robot current time,
The robot current time corresponding reference position coordinate on reference locus and the robot current time are referring to
Reference course angle on position determines the walking error at the robot current time；Wherein, the walking error includes described
The distance between actual position coordinate and the reference position coordinate poor and described actual heading angle refer to course angle with described
Between differential seat angle；
According to walking error and the robot reference linear velocity and reference steering angle speed in current curve,
And the mass center of the first distance of first steering wheel of the mass center of the robot away from the robot, the robot is away from the machine
The second distance of the second steering wheel of device people determines that the first object linear velocity of the first steering wheel of the robot and first object are beaten
Angle, and determine that the second target linear velocity of the second steering wheel of the robot and the second target beat angle；
It controls first steering wheel and beats angle and first object linear velocity walking, and control according to the first object
Second steering wheel beats angle according to second target and second target linear velocity is walked.
The method of control robot ambulation provided in this embodiment, robot is first according to certainly in the reality at current time
Position coordinates, the actual heading angle at current time, current time corresponding reference position coordinate on reference locus and current
Reference course angle of the moment on reference position determines the walking error certainly in current time, and current according to what is determined
The walking error at moment and the reference linear velocity in current curve and reference steering angle speed and the mass center of itself are away from first
Second distance of the mass center away from the second steering wheel of the first distance of steering wheel and itself, determine the first steering wheel first object linear velocity and
First object beats angle, and determines that the second target linear velocity of the second steering wheel and the second target beat angle, finally controls the first steering wheel
Angle walking is played according to determining first object linear velocity and first object, controls the second steering wheel according to the second determining target linear speed
Degree and the second target play angle walking.Due to the robot have can front and back rotation and left-right rotation steering wheel, pass through simultaneously
The method of control robot ambulation provided in this embodiment, can control the walking and steering of the steering wheel of the robot, so that should
Robot can not only walk in the longitudinal direction, and under the premise of not changing robot itself posture, can be in left and right
It is translated on direction, allows the robot narrow by region, the limited environment in space, therefore, using the present embodiment
Method substantially increase the flexibility ratio of robot, reduce requirement of the robot to walking environment, and expand robot
The scope of application.In addition, being allowed the robot to using the method for the present embodiment according to certainly in the physical location at current time
Coordinate, the reference position coordinate at current time, the actual heading angle at current time and the reference course angle at current time determine
The walking error at itself current time, which raises the precisions that the walking error at current time determines, so that robot
The first object linear velocity and first object of the first steering wheel determined according to the walking error at current time make angle and the second rudder
The precision that the second target linear velocity and the second target of wheel beat angle is also higher, that is, uses control method control provided in this embodiment
The process precision of robot ambulation processed is higher.
Second aspect, the embodiment of the present invention provide a kind of device for controlling robot ambulation, comprising:
First determining module, for current according to the actual position coordinate at the robot current time, the robot
The actual heading angle at moment, the robot current time corresponding reference position coordinate and the machine on reference locus
Reference course angle of the device people's current time on reference position, determines the walking error at the robot current time；Wherein, institute
Stating walking error includes the poor and described actual heading of the distance between the actual position coordinate and the reference position coordinate
Angle and the differential seat angle with reference between course angle；
Second determining module, for the reference linear velocity according to the walking error and the robot in current curve
The first distance of the first steering wheel with the mass center of reference steering angle speed and the robot away from the robot, the machine
The second distance of second steering wheel of the mass center of device people away from the robot, determines the first object of the first steering wheel of the robot
Linear velocity and first object beat angle, and determine that the second target linear velocity of the second steering wheel of the robot and the second target are beaten
Angle；
Control module beats angle and the first object linear velocity according to the first object for controlling first steering wheel
Walking, and control second steering wheel beats angle according to second target and second target linear velocity is walked.
The third aspect, the embodiment of the present invention provide a kind of robot, including memory and processor, the memory storage
There is computer program, the processor performs the steps of when executing the computer program
According to the actual position coordinate at the robot current time, the actual heading angle at the robot current time,
The robot current time corresponding reference position coordinate on reference locus and the robot current time are referring to
Reference course angle on position determines the walking error at the robot current time；Wherein, the walking error includes described
The distance between actual position coordinate and the reference position coordinate poor and described actual heading angle refer to course angle with described
Between differential seat angle；
According to walking error and the robot reference linear velocity and reference steering angle speed in current curve,
And the mass center of the first distance of first steering wheel of the mass center of the robot away from the robot, the robot is away from the machine
The second distance of the second steering wheel of device people determines that the first object linear velocity of the first steering wheel of the robot and first object are beaten
Angle, and determine that the second target linear velocity of the second steering wheel of the robot and the second target beat angle；
It controls first steering wheel and beats angle and first object linear velocity walking, and control according to the first object
Second steering wheel beats angle according to second target and second target linear velocity is walked.
Fourth aspect, the embodiment of the present invention provide a kind of computer readable storage medium, are stored thereon with computer program,
The computer program performs the steps of when being executed by processor
According to the actual position coordinate at the robot current time, the actual heading angle at the robot current time,
The robot current time corresponding reference position coordinate on reference locus and the robot current time are referring to
Reference course angle on position determines the walking error at the robot current time；Wherein, the walking error includes described
The distance between actual position coordinate and the reference position coordinate poor and described actual heading angle refer to course angle with described
Between differential seat angle；
According to walking error and the robot reference linear velocity and reference steering angle speed in current curve,
And the mass center of the first distance of first steering wheel of the mass center of the robot away from the robot, the robot is away from the machine
The second distance of the second steering wheel of device people determines that the first object linear velocity of the first steering wheel of the robot and first object are beaten
Angle, and determine that the second target linear velocity of the second steering wheel of the robot and the second target beat angle；
It controls first steering wheel and beats angle and first object linear velocity walking, and control according to the first object
Second steering wheel beats angle according to second target and second target linear velocity is walked.
Device, robot and the computer readable storage medium of control robot ambulation provided in this embodiment, can make
Robot is obtained first according to the actual position coordinate certainly in current time, the actual heading angle at current time, current time pair
It should determine in reference course angle of the reference position coordinate and current time on reference locus on reference position from working as
The walking error at preceding moment, and according to the walking error at itself current time and the reference linear velocity in current curve and reference
The first distance of steering angular velocity and the mass center of itself away from the first steering wheel and itself mass center away from the second steering wheel second away from
From determining that the first object linear velocity of the first steering wheel and first object beat angle, and determine the second target linear speed of the second steering wheel
Degree and the second target beat angle, finally control the first steering wheel according to determining first object linear velocity and first object and play angle walking,
It controls the second steering wheel and plays angle walking according to determining the second target linear velocity and the second target.Due to the robot have can be former
After rotate and the steering wheel of left-right rotation, while providing through this embodiment the device of control robot ambulation, robot and
Computer readable storage medium can control the walking and steering of the steering wheel of robot, so that robot can not only be in front and back
It walks on direction, and under the premise of not changing robot itself posture, can translate in the lateral direction, so that should
Robot can be narrow by region, and the limited environment in space, this improves the flexibility ratios of robot, and reduce to row
The requirement for walking environment expands the scope of application of robot.In addition, the device of control robot ambulation provided in this embodiment,
Robot and computer readable storage medium, it is also possible that robot can be sat according to from the physical location in current time
Mark, the reference position coordinate at current time, the actual heading angle at current time and the determination of the reference course angle at current time are worked as
The walking error at preceding moment, which raises the precisions that the walking error at current time determines, so that robot is according to working as
The first object linear velocity and first object for the first steering wheel that the walking error at preceding moment determines beat the of angle and the second steering wheel
The precision that two target linear velocities and the second target beat angle is also higher, i.e., using control robot ambulation provided in this embodiment
Device, robot and computer readable storage medium improve the precision of robot ambulation process.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram for robot that an embodiment provides；
Fig. 2 is a kind of schematic top plan view for robot that an embodiment provides；
Fig. 3 is the method flow schematic diagram for the control robot ambulation that an embodiment provides；
Fig. 4 is a kind of kinetic model schematic diagram for robot that an embodiment provides；
Fig. 5 is the method flow schematic diagram for the control robot ambulation that another embodiment provides；
Fig. 6 is the method flow schematic diagram for the control robot ambulation that another embodiment provides；
Fig. 7 is the method flow schematic diagram for the control robot ambulation that another embodiment provides；
Fig. 8 is the method flow schematic diagram for the control robot ambulation that another embodiment provides；
Fig. 9 is a kind of structural schematic diagram of the device for control robot ambulation that an embodiment provides；
Figure 10 is a kind of structural schematic diagram of the device for control robot ambulation that another embodiment provides；
Figure 11 is a kind of structural schematic diagram of the device for control robot ambulation that another embodiment provides；
Figure 12 is a kind of structural schematic diagram of the device for control robot ambulation that another embodiment provides；
Figure 13 is a kind of structural schematic diagram for robot that another embodiment provides.
Specific embodiment
The method of control robot ambulation provided in an embodiment of the present invention, can be adapted for robot as shown in Figure 1.It should
Robot can be the Twin Rudders wheel robot based on inertial navigation, which may include executing agency 11, sensor 12, leads
Control system 13 of navigating and driving unit 14.Wherein, executing agency 11 may include the first steering wheel and the second steering wheel, wherein every
A steering wheel includes a traveling wheel and a deflecting roller, and traveling wheel is used to drive the walking of robot, deflecting roller for changing
The direction of traveling wheel, traveling wheel and deflecting roller, which cooperate, realizes the steering and walking of steering wheel, finally to realize turning for robot
To walking.The sensor 12 may include inertial sensor, encoder and other types of sensor.The inertial sensor
Can be with the steering angular velocity of the above-mentioned robot of real-time measurement, and the steering angular velocity measured is sent to navigation control system
13；Encoder can be with the of the linear velocity for beating angle and the first steering wheel of the first steering wheel of real-time measurement robot and robot
The linear velocity for beating angle and the second steering wheel of two steering wheels, and the first steering wheel of the robot measured is made into angle and the first steering wheel
Linear velocity, and the second steering wheel of robot for measuring beat angle and the linear velocity of the second steering wheel is sent to navigation control system
13.Above-mentioned navigation control system 13 can pass through the first steering wheel of steering angular velocity, robot to the robot received
Beat the second steering wheel of the linear velocity and robot of angle and the first steering wheel beat angle and the linear velocity of the second steering wheel carries out accordingly
It calculates, to control the walking and steering of the steering wheel of robot.Optionally, which may include that corresponding processing is set
It is standby, such as processor, middle control unit, driver etc., it can also include some control interfaces, can control by the control interface
The walking and steering of robot.Driving unit 14 can control execution machine according to the calculated result of above-mentioned navigation control system 13
Structure 11 goes to execute according to calculated result, to reach the walking and steering of the steering wheel of control robot.
Traditional robot is the wheeled robot based on inertial navigation, is somebody's turn to do the wheeled robot based on inertial navigation and is expert at
During walking, it can only be rotated in front-rear direction using differential speed control method control wheel, but the control method control
System the wheeled robot based on inertial navigation flexibility ratio it is not strong, and to walking environmental requirement it is more harsh, the scope of application compared with
It is narrow.For this purpose, a kind of method that the present invention provides the Twin Rudders wheel robot based on inertial navigation and controls the robot ambulation, purport
Solving technical problem present in above-mentioned traditional technology.
Twin Rudders wheel robot provided in an embodiment of the present invention based on inertial navigation not only may be implemented traditional based on used
Property navigation wheeled robot traveling method, and the movement on left and right directions may be implemented, it can not changing itself
Under the premise of posture, realization is comprehensive to walk, and flexibility ratio is higher, and lower to walking environmental requirement, and therefore, the present invention is real
The Twin Rudders wheel robot based on inertial navigation for applying example offer can be widely applied to following industries: logistic storage transport, factory
Industrial large-sized material is carried, pharmaceutical industry has collarium border and desinfection chamber seamless interfacing, military explosive, the condition of a disaster rescue, Auto-searching track,
Autonomous rescue home services or enterprises service, domestic hygiene and file carrying etc..
In order to make the objectives, technical solutions, and advantages of the present invention clearer, pass through following embodiments and combine attached
Figure, the further description of technical solution in the embodiment of the present invention.It should be appreciated that specific embodiment described herein
Only to explain the present invention, it is not intended to limit the present invention.
For the ease of the understanding of those skilled in the art, by taking the schematic top plan view of robot as shown in Figure 2 as an example, to this
The relational language or parameter that embodiment is related to explain, wherein robot provided in this embodiment may be implemented along arbitrary point
For the turning motion of radius, optionally, robot from origin to destination between include multiple bends, below with robot at
It is introduced for progress turning motion in current curve, and in current curve, specific as shown in Figure 2:
D in Fig. 2 is robot, and A is the physical location of robot and the mass center physical location of robot.B is machine
The first steering wheel of people, C are the second steering wheel of robot, lfrFor robot mass center away from the first distance of the first steering wheel, lreFor machine
Second distance of the mass center of device people away from the second steering wheel, P are the center of circle of current curve locating for robot, rpIt is the half of current curve
Diameter.In addition, vAPractical systemic velocity for the robot current time being calculated, i.e. vAFor the walking at robot current time
Speed；vfrFor the first actual linear velocity for measuring the first obtained steering wheel current time, i.e. vfrFor the first steering wheel current time
The practical speed of travel；θfrThe first reality to measure the first obtained steering wheel current time beats angle, i.e. θfrIt is current for the first steering wheel
The actual steering angle at moment；vreFor the second actual linear velocity for measuring the second obtained steering wheel current time, i.e. vreIt is second
The practical speed of travel at steering wheel current time；θreThe second reality to measure the second obtained steering wheel current time beats angle, i.e. θre
For the actual steering angle at the second steering wheel current time.
Fig. 3 is the flow diagram of the method for the control robot ambulation that an embodiment provides.The present embodiment what is involved is
Robot calculates the first object linear velocity of the first steering wheel and first object beats angle, and calculates the second score of the second steering wheel
Speed and the second target beat angle, and according to the first mesh of the first object linear velocity for the first steering wheel being calculated and the first steering wheel
Mark plays the walking and steering of the first steering wheel of angle control, and according to the second target linear velocity of the second steering wheel being calculated and the
Second target of two steering wheels beats the detailed process that angle controls walking and the steering of the second steering wheel.As shown in figure 3, this method comprises:
S101, the actual position coordinate according to the robot current time, the practical boat at the robot current time
To angle, the robot current time corresponding reference position coordinate on reference locus and the robot current time
Reference course angle on reference position determines the walking error at the robot current time；Wherein, the walking error packet
Include the distance between the actual position coordinate and the reference position coordinate poor and described actual heading angle and the reference
Differential seat angle between course angle.
Wherein, reference locus involved in the present embodiment is the reference path of preset robot ambulation, ideal feelings
Under condition, robot should walk according to the route of the reference locus of setting.In addition, if robot is according to reference locus row
It walks, robot, which is located at some position on the reference locus, can be referred to as reference position, and robot is on the reference position
Course angle can be referred to as refer to course angle.The reference locus can be set in advance in robot, can also be from other
It gets, can also be calculated according to the parameter being pre-configured in robot, here, the present embodiment in external equipment
Without limitation to the acquisition modes of reference locus.
Illustrate that robot obtains so that reference locus is calculated according to the parameter being pre-configured in robot as an example
The process of reference locus: the parameter being pre-configured in robot include from origin to destination between in each section of bend
Start reference position coordinates, the radius of bend and the turn angle of bend, robot can be according to preconfigured every
Each section of bend is calculated in the turn angle of the start reference position coordinates of one section of bend, the radius of bend and bend
Reference locus.After the reference locus for obtaining each section of bend, the position coordinates of each point on the reference locus are
It is known that in this way, robot can obtain reference position of any time itself correspondence on reference locus according to reference locus
Coordinate and the reference course angle on the reference position.
Optionally, for the kinetic model of the robot as shown in figure 4, XOY shown in Fig. 4 is navigational coordinate system, A is machine
The physical location (i.e. the centroid position of robot) of device people, R are the reference position of robot, xRRyRFor the reference supports of robot
Coordinate system, xAAyAFor the actual vector coordinate system of robot.(XA,YA) be robot current time actual position coordinate, (XR,
YR) be robot current time reference position coordinate, ψAFor the actual heading angle at robot current time, ψRWork as robot
The reference course angle at preceding moment, e1For (XA,YA) and (XR,YR) range difference on robot direction of travel, e2For (XA,YA) with
(XR,YR) range difference on the other direction perpendicular to direction of travel, e3For ψAWith ψRDifferential seat angle, vRIt is robot current
Reference linear velocity in bend.Wherein, walking error can be used for characterizing between the practical run trace of robot and reference locus
Irrelevance.Optionally, walking error may include e1、e2And e3。
Specifically, robot can pass through the actual position coordinate (X to itself current timeA,YA), itself current time
Actual heading angle ψA, itself current time corresponding reference position coordinate (X on reference locusR,YR) and itself is currently
Reference course angle ψ of the moment on reference positionRIt is calculated accordingly, obtains the walking error at itself current time.It is optional
, robot can be according to formulaBe calculated itself it is current when
The walking error e at quarter.Wherein, e is the walking error at robot current time.Optionally, robot can also according to comprisingOther relational expressions, the walking error e at itself current time is calculated.This reality
Apply example at this to robot how according to the actual position coordinate (X at itself current timeA,YA), the practical boat at itself current time
To angle ψA, itself current time corresponding reference position coordinate (X on reference locusR,YR) and itself current time joining
Examine the reference course angle ψ on positionR, the concrete mode of walking error e at itself current time is determined without limitation, as long as machine
People can be according to the actual position coordinate (X at itself current timeA,YA), the actual heading angle ψ at itself current timeA, itself work as
The corresponding reference position coordinate (X on reference locus of preceding momentR,YR) and reference of itself current time on reference position
Course angle ψR, determine the walking error e at itself current time.
S102, reference linear velocity and reference steering angle according to the walking error and the robot in current curve
The first distance of first steering wheel of the mass center of speed and the robot away from the robot, the robot mass center away from
The second distance of second steering wheel of the robot determines the first object linear velocity and first of the first steering wheel of the robot
Target beats angle, and determines that the second target linear velocity of the second steering wheel of the robot and the second target beat angle.
Wherein, robot from origin to destination between may include multiple bends, optionally, robot can be preparatory
The corresponding reference locus of each bend is obtained according to the parameter of each bend, in this way, after robot enters current curve, currently
The corresponding reference locus of bend is known.For each section of bend, the different location robot in same bend is corresponding
With reference to linear velocity vRIt is equal, the corresponding reference steering angle speed of different location robot in same bendIt is equal.Ideal feelings
Under condition, robot should walk according to the route of the corresponding reference locus of current curve of setting.If in addition, robot
It walks according to reference locus, the speed of travel of the robot on the reference locus is referred to as to refer to linear velocity vR, this refer to rail
Steering angular velocity on mark is referred to as reference steering angle speed
It should be noted that obtaining the corresponding reference locus of each bend according to the parameter of each bend for robot
Detailed process may refer to the description in S101, and details are not described herein for the present embodiment.
Specifically, robot can pass through the walking error e to itself current time and the ginseng certainly in current curve
Examine linear velocity vRWith reference steering angle speedAnd first distance l of the mass center of itself away from the first steering wheelfr, the mass center of itself
Second distance l away from the second steering wheelreIt is calculated accordingly, determines the first object linear velocity v of the first steering wheelfr' and the first rudder
The first object of wheel beats angle θfr', and determine the second target linear velocity v of the second steering wheelre' and the second steering wheel the second target
Beat angle θre'.Optionally, the current practical run trace of robot can be known based on the walking error e at current time in robot
Irrelevance between reference locus, the history adjusting parameter that then can combine robot and robot are in current curve
Reference linear velocity vRWith reference steering angle speedDetermine that robot current time should adjust in practical systemic velocity
Great value, and great value should be adjusted on actual steering angular speed.It should be noted that the practical mass center of robot
Speed is related to the linear velocity of two steering wheels of robot, two steering wheels of the actual steering angular speed and robot of robot
It is related to beat angle.Therefore, the practical systemic velocity for adjusting robot current time is equivalent to the linear velocity of two steering wheels of adjustment, adjustment
What the actual steering angular speed at robot current time was equivalent to two steering wheels of adjustment beats angle.Based on this, robot can continue
First distance l according to the mass center of itself away from the first steering wheelfr, second distance l of the mass center away from the second steering wheel of itselfre, to really
The practical systemic velocity adjusting parameter at fixed current time and the adjusting parameter of the actual steering angular speed at current time carry out into
The amendment of one step, and then obtain the first object linear velocity v of the first steering wheelfr', the first object of the first steering wheel beat angle θfr', with
And second steering wheel the second target linear velocity vre', the second target of the second steering wheel beat angle θre'.It should be noted that this Rigen
According to the walking error e at history adjusting parameter combination robot current time and the reference linear velocity v certainly in current curveRWith
Reference steering angle speedAnd first distance l of the mass center of itself away from the first steering wheelfr, itself mass center is away from the second steering wheel
Second distance lreDetermine first object linear velocity vfr', first object beat angle θfr', the second target linear velocity vre', the second target beats
Angle θre' mode be only a kind of example, the present embodiment to this and without limitation, as long as robot can according to walking error e and
From the reference linear velocity v in current curveRWith reference steering angle speedAnd the mass center of itself is away from the first steering wheel
First distance lfr, second distance l of the mass center away from the second steering wheel of itselfre, determine the first object linear velocity of the first steering wheel
vfr' and the first object of the first steering wheel beat angle θfr', and determine the second target linear velocity v of the second steering wheelre' and the second rudder
Second target of wheel beats angle θre'.
S103, control first steering wheel beats angle according to the first object and the first object linear velocity is walked, with
And control second steering wheel beats angle according to second target and second target linear velocity is walked.
Specifically, in the first object linear velocity v for determining the first steering wheelfr' and first object beat angle θfr', and determine the
Second target linear velocity v of two steering wheelsre' and the second target beat angle θre' later, robot can control the first steering wheel according to
Determining first object linear velocity vfr' walk, the first steering wheel, which is controlled, according to determining first object beats angle θfr' turned
To the second steering wheel of control is according to the second determining target linear velocity vre' walk, the second steering wheel is controlled according to determining second
Target beats angle θre' turned to.I.e. robot can be by the first actual linear velocity v at the first steering wheel current timefrIt is adjusted to
First object linear velocity vfr', first reality at the first steering wheel current time is beaten into angle θfrIt is adjusted to first object and beats angle θfr', it will
The second actual linear velocity v at the second steering wheel current timereIt is adjusted to the second target linear velocity vre', by the second steering wheel current time
The second practical angle θ that beatsreIt is adjusted to the second target and beats angle θre′。
It should be noted that the second steering wheel is the rear steering wheel of robot when the first steering wheel is the preceding steering wheel of robot, when
When first steering wheel is the rear steering wheel of robot, the second steering wheel is the preceding steering wheel of robot, and the present invention is corresponding to the first steering wheel at this
Be robot preceding steering wheel or rear steering wheel, and the corresponding preceding steering wheel for being robot or rear steering wheel be not to the second steering wheel
It limits, can be arranged accordingly according to practical application request.
The method of control robot ambulation provided in this embodiment, robot is first according to certainly in the reality at current time
Position coordinates (XA,YA), the actual heading angle ψ at current timeA, the current time corresponding reference position coordinate on reference locus
(XR,YR) and reference course angle ψ of the current time on reference positionR, it determines from the walking error e in current time, and
Reference linear velocity v according to the walking error e at current time and in current curveRWith reference steering angle speedAnd from
First distance l of the mass center of body away from the first steering wheelfrWith second distance l of the mass center away from the second steering wheel of itselfre, determine the first rudder
The first object linear velocity v of wheelfr' and first object beat angle θfr', and determine the second target linear velocity v of the second steering wheelre' and
Second target beats angle θre', the first steering wheel is finally controlled according to determining first object linear velocity vfr' and first object beat angle θfr′
Walking controls the second steering wheel according to the second determining target linear velocity vre' and the second target beat angle θre' walking.Due to the machine
People have can front and back rotation and left-right rotation steering wheel, while the control robot ambulation provided through this embodiment
Method can control the walking and steering of the steering wheel of the robot, so that the robot can not only walk in the longitudinal direction,
And under the premise of not changing robot itself posture, it can translate in the lateral direction, so that the robot can be with
Narrow by region, therefore the limited environment in space substantially increases the flexibility ratio of robot using the method for the present embodiment,
Requirement of the robot to walking environment is reduced, and expands the scope of application of robot.In addition, using the side of the present embodiment
Method is allowed the robot to according to certainly in the actual position coordinate (X at current timeA,YA), the reference position at current time sits
Mark (XR,YR), the actual heading angle ψ at current timeAAnd the reference course angle ψ at current timeRDetermine that the walking at current time misses
Poor e, which raises the precisions that the walking error e at current time determines, so that walking of the robot according to current time
The first object linear velocity v for the first steering wheel that error e determinesfr' and first object beat angle θfr' and the second steering wheel the second mesh
Graticule speed vre' and the second target beat angle θre' precision it is also higher, i.e., using control method provided in this embodiment control
The process precision of robot ambulation is higher.
Fig. 5 is the flow diagram of the method for the control robot ambulation that another embodiment provides.What the present embodiment was related to
It how is robot according to certainly in the actual position coordinate (X at current timeA,YA), the actual heading angle ψ at current timeA, when
The corresponding reference position coordinate (X on reference locus of preceding momentR,YR) and reference course of the current time on reference position
Angle ψR, determine the detailed process of the walking error e at current time.It is optional on the basis of above-mentioned embodiment as shown in Figure 3
, as shown in figure 5, above-mentioned S101 can specifically include:
S201, the actual steering angular speed according to robot current time of measurement, determine that the robot is current
The actual heading angle ψ at momentA。
Wherein, robot can measure the actual steering angle speed at itself current time by the gyroscope in inertial sensor
Degree, by the actual acceleration at itself current time of the accelerometer measures in inertial sensor, by inertial sensor
The practical magnetic force at magnetometer measures itself current time, and by measurement current time actual acceleration and measurement it is current
The practical magnetic force at moment is corrected the actual steering angular speed at the current time of measurement, and to the steering angle speed after correction
Degree is integrated, and is obtained from the actual heading angle ψ in current timeA。
S202, according to the actual heading angle of the robot previous moment, the practical mass center of the robot previous moment
The actual position coordinate of speed and the robot previous moment determines the actual position coordinate at the robot current time
(XA,YA)。
Wherein, the practical systemic velocity v of robot previous momentBefore frAnd the actual heading angle of previous moment is relative to working as
The preceding moment be it is known, when robot previous moment walk when, robot can by steering wheel encoder measure
The first steering wheel previous moment the first actual linear velocity vBefore frAngle θ is beaten with the first realityBefore frAnd the second steering wheel previous moment
The second actual linear velocity vBefore reAngle θ is beaten with the second realityBefore reIt is calculated accordingly, obtains the reality of robot previous moment
Systemic velocity vBefore fr.Optionally, robot can pass through formula vBefore A=vBefore frcosθBefore fr+vBefore recosθBefore re, determine that robot is previous
The practical systemic velocity v at momentBefore A.Optionally, robot can also be by the inclusion of vBefore frcosθBefore fr+vBefore recosθBefore reOther passes
It is the practical systemic velocity v that formula determines robot previous momentBefore A。
Optionally, robot can pass through formula XA(t)=XA(t-1)+vA(t-1)cosψA(t-1) Δ t (formula A) is true
The X at itself fixed current timeA(t), pass through formula YA(t)=YA(t-1)+vA(t-1)sinψA(t-1) Δ t (formula B) is determined certainly
The Y at body current timeA(t), to obtain the actual position coordinate (X at itself current timeA,YA).Wherein, XA(t) work as robot
The abscissa of preceding moment physical location, XAIt (t-1) is the abscissa of robot previous moment physical location, vAIt (t-1) is robot
The practical systemic velocity of previous moment, ψAIt (t-1) is the actual heading angle of robot previous moment, Δ t is to calculate duration, YA(t)
For the ordinate of robot current time physical location, YAIt (t-1) is the ordinate of robot previous moment physical location.It is optional
, robot can also be by the inclusion of XA(t-1)+vA(t-1)cosψA(t-1) when other relational expressions of Δ t determine that itself is current
The X at quarterA(t), by the inclusion of YA(t-1)+vA(t-1)sinψA(t-1) other relational expressions of Δ t determine the Y at itself current timeA
(t), to obtain the actual position coordinate (X at itself current timeA,YA).The present embodiment is at this to robot how according to before itself
The actual position coordinate at the actual heading angle at one moment, the practical systemic velocity of itself previous moment and itself previous moment,
Determine the actual position coordinate (X at itself current timeA,YA) concrete mode without limitation, as long as robot can be according to itself
The physical location at the actual heading angle of previous moment, the practical systemic velocity of itself previous moment and itself previous moment is sat
Mark, determines the actual position coordinate (X at itself current timeA,YA).
S203, according to formula (1):Determine current time
Walking error e.
Wherein, robot according to the reference locus of current curve, can obtain the reference position coordinate at itself current time
(XR,YR) and reference course angle ψ of itself current time on the reference position coordinateR, (X is obtained in robotR,YR) and ψRIt
Afterwards, robot can be according to (XR,YR)、ψRAnd (X determined by above-mentioned formula A and formula BA,YA) and S201 in institute really
Fixed ψA, pass through formulaOr comprisingOther relational expressions, determine from current time walking error e.
The method of control robot ambulation provided in this embodiment, the actual steering that robot passes through the current time of measurement
Angular speed determines the actual heading angle ψ at itself current timeA, and according to the actual heading angle of itself previous moment, itself is previous
The practical systemic velocity at moment and from previous moment actual position coordinate determine from current time actual bit
Set coordinate (XA,YA), finally determined according to formula (1) from the walking error e in current time.Since robot works as in determination
Actual position coordinate (the X at preceding momentA,YA) when, it is combined with certainly in the actual position coordinate of previous moment, from previous
The actual heading angle at moment and from the practical systemic velocity in previous moment, data reference are relatively accurate and comprehensively, because
This, which raises the actual position coordinate (X at current timeA,YA) determine accuracy so that robot is according to formula (1)
The precision of the walking error e at determining current time is higher, so that robot controls itself walking according to walking error e
Process it is more accurate.
Fig. 6 is a kind of flow diagram of the method for control robot ambulation that another embodiment provides.The present embodiment relates to
And be first object linear velocity v that robot determines the first steering wheelfr' and first object beat angle θfr', and determine the second rudder
Second target linear velocity v of wheelre' and the second target beat angle θre' detailed process.On the basis of the above embodiments, optional
, as shown in fig. 6, above-mentioned S102 can specifically include:
S301, reference linear velocity and reference steering angle according to the walking error and the robot in current curve
Speed determines the target centroid speed and target diversion angular speed at the robot current time.
Wherein, different location of the robot in current curve is corresponding refers to linear velocity vRIt is equal, in current curve
The corresponding reference steering angle speed of different locationIt is equal.Optionally, reference linear velocity v of the robot in current curveR
With reference steering angle speedIt can be set in advance in robot, can also be obtained by the determination of corresponding algorithm, it can be with
It is acquired from other external equipments, reference linear velocity v of the present embodiment to robot in current curveRIt is turned to reference
Angular speedAcquisition modes without limitation.
After robot determines the walking error e at itself current time, robot can by it is current to itself when
The walking error e at quarter, from the reference linear velocity v in current curveRWith reference steering angle speedIt is counted accordingly
It calculates, determines the target centroid speed v at itself current timeA' and target diversion angular speedOptionally, robot can pass through
FormulaDetermine the target centroid speed v at itself current timeA' and target steering angle
SpeedWherein, k1, k2, k3 are free variable, and k1, k2, k3 are positive integer.Optionally, robot can also pass through
Comprising-k1e1+vR cos e3Other relational expressions determine the target centroid speed v at itself current timeA', it can also be by the inclusion ofOther relational expressions determine the target diversion angular speed at itself current timeThis implementation
Example is to robot how according to the walking error e at itself current time, oneself reference linear velocity v in current curveRAnd ginseng
Examine steering angular velocityDetermine the target centroid speed v at itself current timeA' and target diversion angular speedSpecific side
Formula without limitation, as long as robot can according to the walking error e at itself current time, from the reference line in current curve
Speed vRWith reference steering angle speedDetermine the target centroid speed v at itself current timeA' and target diversion angular speed?.
S302, according to the mass center of the target centroid speed, the target diversion angular speed and the robot away from institute
State the first distance of the first steering wheel of robot, the robot mass center away from the second of the second steering wheel of the robot away from
From determining that the first object linear velocity of the first steering wheel of the robot and first object beat angle, and determine the robot
The second steering wheel the second target linear velocity and the second target beat angle.
Wherein, the target centroid speed v at itself current time is determined in robotA' and target diversion angular speedIt
Afterwards, optionally, robot can be first according to the target centroid speed v at itself current time determinedA' and target steering angle
SpeedAnd first distance l of the mass center of itself away from the first steering wheelfr, determine that the first object of the first steering wheel beats angle θfr',
Angle θ is beaten further according to the first object for the first steering wheel determinedfr' and itself first distance of the mass center away from the first steering wheel
lfr, second distance l of the mass center away from the second steering wheel of itselfre, determine that the second target of the second steering wheel beats angle θre', further basis
The first object for the first steering wheel determined beats angle θfr' the second target with the second steering wheel beats angle θre', determine the first steering wheel
First object linear velocity vfr' the second target linear velocity v with the second steering wheelre′。
Optionally, robot can also be directly according to the target centroid speed v at itself current time determinedA' and mesh
Mark steering angular velocityAnd first distance l of the mass center of itself away from the first steering wheelfr, itself mass center is away from the second steering wheel
Second distance lre, determine the first object linear velocity v of the first steering wheelfr' and first object beat angle θfr', and determine the second steering wheel
The second target linear velocity vre' and the second target beat angle θre', the present embodiment to this and without limitation, as long as robot being capable of root
According to the target centroid speed v at itself current timeA' and target diversion angular speedAnd the mass center of itself is away from the first steering wheel
First distance lfr, second distance l of the mass center away from the second steering wheel of itselfre, determine the first object linear velocity of the first steering wheel
vfr' and first object beat angle θfr', and determine the second target linear velocity v of the second steering wheelre' and the second target beat angle θre′
?.
The method of control robot ambulation provided in this embodiment, robot can be missed according to the walking at itself current time
Poor e and from reference linear velocity v in current curveRWith reference steering angle speedDetermine the mesh at itself current time
Mark systemic velocity vA' and target diversion angular speedAnd according to the target centroid speed v at itself determining current timeA' and
Target diversion angular speedAnd first distance l of the mass center of itself away from the first steering wheelfrMass center with itself is away from the second steering wheel
Second distance lre, determine the first object linear velocity v of the first steering wheelfr' and first object beat angle θfr', and determine the second rudder
Second target linear velocity v of wheelre' and the second target beat angle θre′.Due in the target centroid speed for determining itself current time
vA' and target diversion angular speedWhen, the walking error e at itself current time is combined, and determine that the walking at current time misses
The reference data of poor e is more accurate and comprehensive, and therefore, which raises the precisions that the walking error e at current time determines, in turn
So that the target centroid speed v at itself current time that robot is determined according to the walking error e at current timeA' and target turn
To angular speedPrecision it is also higher so that target centroid speed v of the robot according to itself current timeA' and mesh
Mark steering angular velocityThe first object linear velocity v of the first determining steering wheelfr' and first object beat angle θfr' and the second rudder
Second target linear velocity v of wheelre' and the second target beat angle θre' precision it is also higher, that is, use control provided in this embodiment
The process precision of method control robot ambulation processed is higher.
Fig. 7 is the flow diagram of the method for the control robot ambulation that another embodiment provides.What the present embodiment was related to
It is that robot determines that the first object linear velocity of the first steering wheel and first object beat angle, and determines the second target of the second steering wheel
Linear velocity and the second target beat another optional process at angle.As shown in fig. 7, this method includes following S401-S405, wherein
S401-S402 is a kind of optional implementation of above-mentioned S301, the optional realization side of one kind that S403-S405 is above-mentioned S302
Formula.Referring specifically to Fig. 7, this method comprises:
S401, reference linear velocity v of the robot in current curve is determinedRWith the robot in current curve
Reference steering angle speedWherein, the corresponding v of different location in the same bendRIt is equal, in the same bend
Different location it is correspondingIt is equal, the vREqual to the practical systemic velocity that the robot enters the curved moment.
Specifically, robot can by configure in itself with the reference linear velocity v in current curveRRelevant ginseng
Number is determined from the reference linear velocity v in current curveR, can also be by being obtained from from external equipment in when antecurvature
Reference linear velocity v in roadR, can also be compiled from the data acquisition system being pre-configured in itself according to the bend of current curve
Number, it is obtained from the reference linear velocity v in current curveR.Wherein, being pre-configured in the data acquisition system in itself can wrap
Containing robot from origin to destination between each bend bend label and each bend reference linear velocity vRBetween
Corresponding relationship.The present embodiment determines from the reference linear velocity v in current curve robot at thisRConcrete mode not
It limits.
It determines as robot from the reference linear velocity v in current curveRA kind of optional implementation, machine
People can be according to the actual position coordinate (X at itself current timeA,YA) and the current curve on reference locus start reference position
Coordinate is set, determines whether itself is currently in into curved initial position, if so, robot is according to measurement from entering to bend up the beginning
The first of first steering wheel of position enter curved line speed and first enter it is curved beat angle, the second steering wheel second enters curved line speed and second and enters
It is curved to beat angle, it determines from the reference linear velocity v in current curveR。
Wherein, robot can be by the actual position coordinate (X at current timeA,YA) and current curve on reference locus
Start reference position coordinates are compared, and determine whether robot is currently in into curved initial position according to comparison result.If machine
The actual position coordinate at device people's current time and the start reference position coordinates of the current curve on reference locus are equal, it is determined that
Robot is currently at into curved initial position.If working as in the actual position coordinate and reference locus at robot current time is antecurvature
The distance between the start reference position coordinates in road difference is less than preset threshold, it is determined that robot is currently at into curved start bit
It sets.Wherein, the preset threshold can be configured according to the actual situation, and the present invention does not limit the specific value of preset threshold
It is fixed.
When robot is determined and itself is currently at into curved initial position, robot can enter according to what encoder measured
The first of first steering wheel of curved initial position enters curved line speed vFr risesEnter with first and curved beats angle θFr rises, the second steering wheel second enter it is curved
Linear velocity vRe risesEnter with second and curved beats angle θRe rises, pass through formula vR=vFr risescosθFr rises+vRe risescosθRe risesOr include vFr risescosθFr rises
+vRe risescosθRe risesOther relational expressions, determine that robot enters the practical systemic velocity at curved moment, since robot is in current curve
Interior reference linear velocity vREqual to the practical systemic velocity that robot enters the curved moment, and then robot can be determined when antecurvature
Reference linear velocity v in roadR。
Determining reference linear velocity v of the robot in current curveRLater, robot can be according to current curve
The turn angle of radius and current curve, is calculated the arc length of current curve, then according to the current curve being calculated
Arc length and determination current curve in reference linear velocity vR, the turn duration of current curve, last basis is calculated
The turn duration for the current curve being calculated and the turn angle of current curve, determine reference of the robot in current curve
Steering angular velocity
It should be noted that referring to linear velocity v since the different location in same bend is correspondingRBe it is equal,
The corresponding reference steering angle speed of different location in same bendBe it is equal, therefore, if to be constantly in this curved for robot
In road, then robot only needs to determine reference linear velocity v of the robot in the bend when entering the bend for the first timeRAnd ginseng
Examine steering angular velocity, other positions in the bend, it is no longer necessary to reference linear speed of the robot in the bend
Spend vRWith reference steering angle speedIt is determined.
S402, according to formula (2):Determine the robot current time
Target centroid speed vA' and target diversion angular speed
Specifically, robot can be according to formulaDetermine itself current time
Target centroid speed vA' and target diversion angular speedOptionally, robot can also be according to including-k1e1+vR cos
e3Other relational expressions determine the target centroid speed v at itself current timeA', it can also be by the inclusion ofOther relational expressions determine the target diversion angular speed at itself current time
S403, according to formula (3):Determine the first object of the first steering wheel of the robot
Beat angle θfr′。
Specifically, in the target centroid speed v for determining current timeA' and target diversion angular speedLater, robot
It can be according to determining vA′、And lfr, pass through formulaOr comprising
Other relational expressions, determine that the first object of the first steering wheel beats angle θfr'。
S404, according to formula (4):Determine the second of the second steering wheel of the robot
Target beats angle θre′。
Specifically, determining that the first object of the first steering wheel beats angle θfr' later, robot can be according to determining
θfr'、lreAnd lfr, pass through formulaOr comprisingOther passes
It is formula, determines that the second target of the second steering wheel beats angle θre'。
S405, according to formula (5): vA'=vfr'cosθfr'+vre'cosθre' and formula (6): vfr'=vre' described in determination
The first object linear velocity v of first steering wheel of robotfr' and the robot the second steering wheel the second target linear velocity
vre'。
Specifically, determining that the first object of the first steering wheel beats angle θfr' and the second target of the second steering wheel beat angle θre' it
Afterwards, robot can be according to determining θfr' and θre', pass through formula vA'=vfr'cosθfr'+vre'cosθre' and formula vfr'
=vre', determine the first object linear velocity v of the first steering wheelfr' and the second steering wheel the second target linear velocity vre'；Alternatively, passing through
Include vfr'cosθfr'+vre'cosθre' other relational expressions and vfr'=vre', determine the first object linear speed of the first steering wheel
Spend vfr' and the second steering wheel the second target linear velocity vre'。
Formula used in above-mentioned S402 (2) is the control algolithm of robot ambulation, which enables to machine
Device people's system is stablized, and specific verification process is as follows:
The practical systemic velocity v at robot current timeAWith reference linear velocity v of the robot in current curveRIt can lead to
Formula (7) is crossed to obtain.Wherein, formula (7):Wherein,For XRDerivative,For YR
Derivative,For XADerivative,For YADerivative.The walking of Robot reference locus, robot current time walking error e
It can be calculated by formula (1).Wherein, formula (1):
It is to beat angle by adjusting the reality of the first steering wheel and the second steering wheel and realize that robot or so, which translates, because
This, during controlling robot ambulation, it is necessary to meet the constraint of formula (8).Wherein, formula (8):
In conjunction with formula (7) and formula (8), by the way that formula (9) can be obtained to the walking error derivation in formula (1).Its
In, formula (9):Wherein,For the derivative of e.
So far, it can use Lyapunov theorem of stability to verify whether the control algolithm can make robot system
Stablize.Firstly, defining Lyapunov Equation V:Then in conjunction with formula
(9), derivation is carried out to Lyapunov Equation V, obtains formula (10).Wherein, formula (10):Wherein,For the derivative of V.So far, above-mentioned control is calculated
Method substitutes into formula (10), can obtainWhenThe control algolithm known to Lyapunov theorem of stability can make
System is stablized.
The method of control robot ambulation provided in this embodiment, robot can be according to the walking error e at current time
And reference linear velocity v of the robot in current curveRWith reference steering angle speedDetermine the target matter at current time
Heart speed vA' and target diversion angular speedAnd according to the target centroid speed v at determining current timeA' and target diversion
Angular speedAnd first distance l of the mass center of itself away from the first steering wheelfrWith itself mass center away from the second steering wheel second away from
From lre, determine the first object linear velocity v of the first steering wheelfr' and first object beat angle θfr', and determine the second of the second steering wheel
Target linear velocity vre' and the second target beat angle θre'.Since robot is in the target centroid speed v for determining itself current timeA'
With target diversion angular speedWhen, combine the walking error e at itself current time, the reference linear velocity v of current curveRWith
And the reference steering angle speed of current curveThe parameter that it is combined is comprehensive, and the walking at the current time of robot determination misses
Poor e is also more accurate, and therefore, which raises the target centroid speed v at itself current time being calculated according to formula (2)A'
With target diversion angular speedPrecision；Meanwhile robot is in the first object linear velocity v for calculating the first steering wheelfr' and the
One target beats angle θfr' and the second steering wheel the second target linear velocity vre' and the second target beat angle θre' when, combine itself
First distance l of the mass center away from the first steering wheelfr, second distance l of the mass center away from the second steering wheel of itselfreAnd it is true according to formula (2)
The target centroid speed v at itself current time madeA' and target diversion angular speedIts parameter combined is also more comprehensive
And it is accurate, so that the first steering wheel that robot is calculated according to formula (3), formula (4), formula (5) and formula (6)
First object linear velocity vfr' and first object beat angle θfr' and the second steering wheel the second target linear velocity vre' and the second mesh
Mark beats angle θre' precision it is also higher, i.e., using control method provided in this embodiment control robot ambulation process it is accurate
It spends higher.In addition, in robot according to the first object linear velocity of the first steering wheel determined by the walking error e at current time
vfr' and first object beat angle θfr', and the second target linear velocity v of the second determining steering wheelre' and the second target beat angle θre'
Control itself walking when, can the walking error e to itself current time be corrected, the control provided through this embodiment
The method of robot ambulation, the walking error that robot continuous can must reduce itself are more precisely controlled itself row to realize
The purpose walked.
Fig. 8 is a kind of flow diagram of the method for control robot ambulation that another embodiment provides.The present embodiment relates to
And be robot before the walking error e at the determination robot current time, determine whether current time is in
Detailed process in current curve.On the basis of the above embodiments, as shown in figure 8, before S101, this method further includes
S501-S502:
S501, joined according to the actual position coordinate at the robot current time and robot current time correspondence
The reference position coordinate on track is examined, determines whether the robot current time is in current curve.
Optionally, if XAAbsolute value be less than XRAbsolute value, it is determined that robot current time is in current curve.
Optionally, if YAAbsolute value be less than YRAbsolute value, it is determined that robot current time is in current curve.
S502, if so, according to the actual position coordinate at robot current time, the reality at the robot current time
Course angle, the robot current time are corresponding in the reference position coordinate and the current robot on reference locus
The reference course angle being engraved on reference position determines the walking error at the robot current time.
Specifically, robot continues to execute S101- if robot determines that itself current time is in current curve
S103.If robot determines that itself current time has been not in current curve, robot enters next section of bend, just needs
The walking error e at itself current time is determined according to the relevant parameter of next section of bend, with control from next bend
Walking.
The method of control robot ambulation provided in this embodiment, before determining the walking error e at itself current time,
Robot it needs to be determined that itself current time whether be in current curve, in this way, robot only needs to count in same bend
Calculate the reference linear velocity v in a bendRWith reference steering angle speedIn this way, just reducing robot in control process
Calculation amount, the control reaction speed of robot is improved, so as to the more accurate walking that must control robot.
For the ease of the understanding of those skilled in the art, the process described in detail below for how controlling robot ambulation: false
If robot needs from E walk to F, and E to have between the ground F 3 sections of bends (the corresponding reference locus of every section of bend
Acquisition process may refer to the description in above-described embodiment, and details are not described herein by the present invention, obtain the reference of each section of bend
After track, the position coordinates of each point on the reference locus are it is known that in this way, robot can be according to reference rail
Mark obtains any time itself reference position coordinate of the correspondence on reference locus and the reference course on the reference position
Angle), below to describe in detail for how controlling the process of robot ambulation in paragraph 1 bend:
T0At the time of moment is that robot is converted to movement state from resting state, and T0The actual position coordinate of moment robot
For (XA0, YA0), T0The practical systemic velocity of moment robot is vA0, T0The actual heading angle of moment robot is ψA0, i.e. machine
People from initial position co-ordinates be (XA0, YA0), and be v with systemic velocityA0, course angle ψA0Start to walk.
Reach T1When the moment, robot is according to itself T of the accelerometer measures in inertial sensor1The reality at moment adds
Itself T of the magnetometer measures in speed and inertial sensor1The practical magnetic force at moment, to itself T of inertial sensor measurement1
The actual steering angular speed at momentBe corrected, and to correction afterIt is integrated, obtains itself T1The reality at moment
Course angle ψA1, then according to itself T0The practical systemic velocity v at momentA0、T0The actual heading angle ψ at momentA0And T0Moment
Actual position coordinate (XA0, YA0), pass through XA1=XA0+vA0cosψA0Δ t determines itself T1The X at momentA1, pass through YA1=YA0+
vA0sinψA0Δ t determines itself T1The Y at momentA1, to obtain itself T1Actual position coordinate (the X at momentA1, YA1)。
Later, robot is by T1Actual position coordinate (the X at momentA1, YA1) and T1Reference position coordinate (the X at momentR1,
YR1) be compared, if XA1Absolute value be less than XR1Absolute value, if YA1Absolute value be less than YR1Absolute value, then really
Itself is determined currently still in current curve.Then, robot is according to itself T determined1The actual heading angle ψ at momentA1, from
Body T1Actual position coordinate (the X at momentA1, YA1) and itself T1The moment corresponding reference position coordinate (X on reference locusR1,
YR1) and itself T1Reference course angle ψ of the moment on the reference position coordinateR1, pass throughDetermine itself T1The walking error e at moment1' (wherein,
e11' it is T1Moment (XA1,YA1) and (XR1,YR1) range difference on robot direction of travel, e21' it is T1Moment (XA1,YA1) with
(XR1,YR1) range difference on the other direction perpendicular to direction of travel, e31' it is T1Moment ψA1With ψR1Differential seat angle).
Then, robot is according to itself T1The walking error e at moment1', the reference linear velocity v in current curveRAnd reference
Steering angular velocityPass through formulaDetermine itself T1The target matter at moment
Heart speed vA1' and target diversion angular speedFurther according to formulaDetermine itself T1The of moment
The first object of one steering wheel beats angle θfr1', and according to formulaDetermine itself T1Moment
Second target of the second steering wheel beats angle θre1', finally according to formula vA1'=vfr1'cosθfr1'+vre1'cosθre1' and formula vfr1'
=vre1' determine itself T1The first object linear velocity v of first steering wheel at momentfr1' and the second steering wheel the second target linear velocity
vre1'.Finally, robot, which controls the first steering wheel, beats angle θ according to determining first objectfr1' turned to, according to determining first
Target linear velocity vfr1' walk, and the second steering wheel of control beats angle θ according to the second determining targetre1' turned to, it presses
According to the second determining target linear velocity vre1' walk.
Reach T2When the moment, robot is according to itself T of the accelerometer measures in inertial sensor2The reality at moment adds
Itself T of the magnetometer measures in speed and inertial sensor2The practical magnetic force at moment, to itself T of inertial sensor measurement2
The actual steering angular speed at momentBe corrected, and to correction afterIt is integrated, obtains itself T2The reality at moment
Course angle ψA2, then according to itself T1The practical systemic velocity v at momentA1, itself T1The actual heading angle ψ at momentA1And T1When
Actual position coordinate (the X at quarterA1, YA1), pass through XA2=XA1+vA1cosψA1Δ t determines itself T2The X at momentA2, pass through YA2=YA1
+vA1sinψA1Δ t determines itself T2The Y at momentA2, to obtain itself T2Actual position coordinate (the X at momentA2, YA2)。
Later, robot is by itself T2Actual position coordinate (the X at momentA2, YA2) and T2The reference position coordinate at moment
(XR2, YR20 is compared, if XA2Absolute value be less than XR2Absolute value, if YA2Absolute value be less than YR2Absolute value,
Then determine itself currently still in current curve.Then, robot is according to itself T determined2The actual heading angle at moment
ψA2, itself T2Actual position coordinate (the X at momentA2, YA2) and itself T2Reference position of the correspondence at moment on reference locus
Coordinate (XR2, YR2) and itself T2Reference course angle ψ of the moment on the reference position coordinateR2, pass through formulaDetermine itself T2The walking error e at moment2' (wherein,
e12' it is T2Moment (XA2,YA2) and (XR2,YR2) range difference on robot direction of travel, e22' it is T2Moment (XA2,YA2) with
(XR2,YR2) range difference on the other direction perpendicular to direction of travel, e32' it is T2Moment ψA2With ψR2Differential seat angle).
Then, robot is according to itself T2The walking error e at moment2', the reference linear velocity v in current curveRAnd reference
Steering angular velocityPass through formulaDetermine itself T2The target matter at moment
Heart speed vA2' and target diversion angular speedFurther according to formulaDetermine itself T2Moment
The first object of first steering wheel beats angle θfr2', and according to formulaDetermine itself T2Moment
The second target of the second steering wheel beat angle θre2', finally according to formula vA2'=vfr2'cosθfr2'+vre2'cosθre2' and formula
vfr2'=vre2' determine itself T2The first object linear velocity v of first steering wheel at momentfr2' the second score with the second steering wheel
Speed vre2′.Finally, robot, which controls the first steering wheel, beats angle θ according to determining first objectfr2' turned to, according to determining
First object linear velocity vfr2' walk, and the second steering wheel of control beats angle according to the second target of the second determining steering wheel
θre2' turned to, according to the second determining target linear velocity vre2' walk.
Reach T3When the moment, it is referred to above-mentioned T1Moment or T2The walking of the control process control robot at moment, such as
This loop control, until robot turns out current curve.After entering next bend, robot how is controlled in next bend
The process of walking may refer to the process of control robot ambulation in current curve, and details are not described herein by the present invention.Work as robot
3 sections of reference locus are covered as procedure described above, with can reaching home F.
Fig. 9 is a kind of schematic diagram for control robot walking device that an embodiment provides.As shown in figure 9, the device packet
It includes: the first determining module 21, the second determining module 22 and control module 23.
Specifically, the first determining module 21 is for the actual position coordinate according to the robot current time, the machine
The actual heading angle at device people's current time, the robot current time corresponding reference position coordinate on reference locus, with
And reference course angle of the robot current time on reference position, determine that the walking at the robot current time misses
Difference；Wherein, the walking error includes poor, the Yi Jisuo of the distance between the actual position coordinate and the reference position coordinate
State actual heading angle and the differential seat angle with reference between course angle.
Second determining module 22, for the reference linear speed according to the walking error and the robot in current curve
The mass center of degree and reference steering angle speed and the robot is away from the first distance of the first steering wheel of the robot, described
The second distance of second steering wheel of the mass center of robot away from the robot, determines the first mesh of the first steering wheel of the robot
Graticule speed and first object beat angle, and determine the second target linear velocity and the second target of the second steering wheel of the robot
Beat angle.
Control module 23 beats angle and the first object linear speed according to the first object for controlling first steering wheel
Degree walking, and control second steering wheel beats angle according to second target and second target linear velocity is walked.
The device of control robot ambulation provided in this embodiment, can execute above method embodiment, realization principle
Similar with technical effect, details are not described herein.
Figure 10 is a kind of control robot walking device schematic diagram that an embodiment provides.As shown in Figure 10, in above-mentioned Fig. 9
Shown on the basis of embodiment, the first determining module 21 includes: the first determination unit 211, the second determination unit 212, third
Determination unit 213.
First determination unit 211 is determined for the actual steering angular speed according to robot current time of measurement
The actual heading angle ψ at the robot current timeA；
Second determination unit 212, for the actual heading angle ψ according to the robot previous momentA, before the robot
The actual position coordinate of the practical systemic velocity at one moment and the robot previous moment, when determining that the robot is current
Actual position coordinate (the X at quarterA,YA)；
Third determination unit 213, for according to formula:It determines
The walking error e at current time；Wherein, the described (XR,YR) be the robot current time reference position coordinate；The ψR
For the reference course angle at the robot current time, the e1For (the XA,YA) and (XR,YR) in the robot row
Into the range difference on direction, the e2For (the XA,YA) and (XR,YR) in the other direction perpendicular to the direction of travel
On range difference, the e3For the ψAWith the ψRDifferential seat angle.
The device of control robot ambulation provided in this embodiment, can execute above method embodiment, realization principle
Similar with technical effect, details are not described herein.
Figure 11 is a kind of schematic device for control robot ambulation that an embodiment provides.As shown in figure 11, above-mentioned
On the basis of Fig. 9 or embodiment shown in Fig. 10, the second determining module 22 include: the 4th determination unit the 221, the 5th determine it is single
Member 222.
4th determination unit 221, for the reference line according to the walking error and the robot in current curve
Speed and reference steering angle speed determine the target centroid speed and target diversion angular speed at the robot current time；
5th determination unit 222, for according to the target centroid speed, the target diversion angular speed and the machine
The first distance of first steering wheel of the mass center of device people away from the robot, the robot mass center away from the second of the robot
The second distance of steering wheel determines that the first object linear velocity of the first steering wheel of the robot and first object beat angle, and really
Second target linear velocity of the second steering wheel of the fixed robot and the second target beat angle.
Optional in one of the embodiments, above-mentioned 4th determination unit 221 is specifically used for determining the robot
Reference linear velocity v in current curveRWith reference steering angle speed of the robot in current curveAnd according to public affairs
Formula:Determine the target centroid speed v at the robot current timeA' and target
Steering angular velocityWherein, the corresponding v of different location in the same bendREqual, in the same bend difference
Position is correspondingIt is equal, the vREqual to the practical systemic velocity that the robot enters the curved moment；Described k1, k2, k3 are
Free variable, described k1, k2, k3 are positive integer.
Optional in one of the embodiments, above-mentioned 5th determination unit 222 is specifically used for according to formulaDetermine that the first object of the first steering wheel of the robot beats angle θfr', and according to formulaDetermine that the second target of the second steering wheel of the robot beats angle θre', and according to formula
vA'=vfr′cosθfr′+vre′cosθre' and vfr'=vre' determine the robot the first steering wheel first object linear velocity
vfr' the second target linear velocity v with the second steering wheel of the robotre′；Wherein, the lfrFor the robot mass center away from
The first distance of first steering wheel of the robot；The lreFor the robot mass center away from the second steering wheel of the robot
Second distance.
Optional in one of the embodiments, above-mentioned 4th determination unit 221 is specifically used for according to the robot
Actual position coordinate (the X at current timeA,YA) and the current curve on the reference locus start reference position coordinates, determine
Whether the robot is currently in into curved initial position；If so, entering curved initial position according to the robot of measurement
The first steering wheel first enter curved line speed and first enter it is curved beat angle, the second steering wheel second enters curved line speed and second and enters curved beat
Angle determines reference linear velocity v of the robot in current curveR。
The device of control robot ambulation provided in this embodiment, can execute above method embodiment, realization principle
Similar with technical effect, details are not described herein.
Figure 12 is a kind of schematic device for control robot ambulation that an embodiment provides.On the basis of above-described embodiment
On, the device further include: third determining module 24.
Third determining module 24, for determining that the walking at the robot current time is missed in first determining module 21
It is corresponding in reference locus according to the actual position coordinate at the robot current time and the robot current time before difference
On reference position coordinate, determine whether the robot current time is in current curve；If so, being worked as according to robot
The actual position coordinate at preceding moment, the actual heading angle at the robot current time, the robot current time correspond to
The reference course angle of reference position coordinate and the robot current time on reference position on reference locus determines
The walking error at the robot current time.
Optionally, third determining module 24, if being specifically used for the XAAbsolute value be less than the XRAbsolute value, then really
The fixed robot current time is in current curve；Alternatively, third determining module 24, if being specifically used for the YAIt is absolute
Value is less than the YRAbsolute value, it is determined that the robot current time is in current curve.
The device of control robot ambulation provided in this embodiment, can execute above method embodiment, realization principle
Similar with technical effect, details are not described herein.
Specific limit of device about control robot ambulation may refer to above for control robot ambulation
The restriction of method, details are not described herein.Modules in the device of above-mentioned control robot ambulation can be fully or partially through
Software, hardware and combinations thereof are realized.Above-mentioned each module can be embedded in the form of hardware or machine-independent people in processor
In, it can also be stored in a software form in the memory in robot, execute the above modules in order to which processor calls
Corresponding operation.
In one embodiment, a kind of robot is provided, internal structure chart can be as shown in figure 13.The robot can
To include processor, memory, network interface, display screen and the input unit connected by system bus.Wherein, the robot
Processor for provide calculate and control ability.The memory of the robot includes non-volatile memory medium, built-in storage.
The non-volatile memory medium is stored with operating system and computer program.The built-in storage is in non-volatile memory medium
The operation of operating system and computer program provides environment.The network interface of the robot is used to pass through network with external terminal
Connection communication.To realize a kind of method for controlling robot ambulation when the computer program is executed by processor.The robot
Display screen can be liquid crystal display or electric ink display screen, and the input unit of the robot can be and cover on display screen
Touch layer, be also possible to the key being arranged in robot shells, trace ball or Trackpad, can also be external keyboard, touching
Control plate or mouse etc..
It will be understood by those skilled in the art that structure shown in Figure 13, only part relevant to application scheme
The block diagram of structure, does not constitute the restriction for the robot being applied thereon to application scheme, and specific robot can wrap
It includes than more or fewer components as shown in the figure, perhaps combines certain components or with different component layouts.
In one embodiment, a kind of robot, including memory and processor are provided, is stored with calculating in memory
Machine program, the processor perform the steps of when executing computer program
According to the actual position coordinate at the robot current time, the actual heading angle at the robot current time,
The robot current time corresponding reference position coordinate on reference locus and the robot current time are referring to
Reference course angle on position determines the walking error at the robot current time；Wherein, the walking error includes described
The distance between actual position coordinate and the reference position coordinate poor and described actual heading angle refer to course angle with described
Between differential seat angle；
According to walking error and the robot reference linear velocity and reference steering angle speed in current curve,
And the mass center of the first distance of first steering wheel of the mass center of the robot away from the robot, the robot is away from the machine
The second distance of the second steering wheel of device people determines that the first object linear velocity of the first steering wheel of the robot and first object are beaten
Angle, and determine that the second target linear velocity of the second steering wheel of the robot and the second target beat angle；
It controls first steering wheel and beats angle and first object linear velocity walking, and control according to the first object
Second steering wheel beats angle according to second target and second target linear velocity is walked.
In one embodiment, a kind of computer readable storage medium is provided, computer program is stored thereon with, is calculated
Machine program performs the steps of when being executed by processor
According to the actual position coordinate at the robot current time, the actual heading angle at the robot current time,
The robot current time corresponding reference position coordinate on reference locus and the robot current time are referring to
Reference course angle on position determines the walking error at the robot current time；Wherein, the walking error includes described
The distance between actual position coordinate and the reference position coordinate poor and described actual heading angle refer to course angle with described
Between differential seat angle；
According to walking error and the robot reference linear velocity and reference steering angle speed in current curve,
And the mass center of the first distance of first steering wheel of the mass center of the robot away from the robot, the robot is away from the machine
The second distance of the second steering wheel of device people determines that the first object linear velocity of the first steering wheel of the robot and first object are beaten
Angle, and determine that the second target linear velocity of the second steering wheel of the robot and the second target beat angle；
It controls first steering wheel and beats angle and first object linear velocity walking, and control according to the first object
Second steering wheel beats angle according to second target and second target linear velocity is walked.
Those of ordinary skill in the art will appreciate that realizing all or part of the process in above-described embodiment method, being can be with
Relevant hardware is instructed to complete by computer program, the computer program can be stored in a non-volatile computer
In read/write memory medium, the computer program is when being executed, it may include such as the process of the embodiment of above-mentioned each method.Wherein,
To any reference of memory, storage, database or other media used in each embodiment provided herein,
Including non-volatile and/or volatile memory.Nonvolatile memory may include read-only memory (ROM), programming ROM
(PROM), electrically programmable ROM (EPROM), electrically erasable ROM (EEPROM) or flash memory.Volatile memory may include
Random access memory (RAM) or external cache.By way of illustration and not limitation, RAM is available in many forms,
Such as static state RAM (SRAM), dynamic ram (DRAM), synchronous dram (SDRAM), double data rate sdram (DDRSDRAM), enhancing
Type SDRAM (ESDRAM), synchronization link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM
(RDRAM), direct memory bus dynamic ram (DRDRAM) and memory bus dynamic ram (RDRAM) etc..
Each technical characteristic of above embodiments can be combined arbitrarily, for simplicity of description, not to above-described embodiment
In each technical characteristic it is all possible combination be all described, as long as however, the combination of these technical characteristics be not present lance
Shield all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
Limitations on the scope of the patent of the present invention therefore cannot be interpreted as.It should be pointed out that for those of ordinary skill in the art
For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to guarantor of the invention
Protect range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (11)
1. a kind of method for controlling robot ambulation characterized by comprising
According to the actual position coordinate at the robot current time, the actual heading angle at the robot current time, described
The robot current time corresponding reference position coordinate on reference locus and the robot current time are in reference position
On reference course angle, determine the walking error at the robot current time；Wherein, the walking error includes the reality
Between the distance between position coordinates and the reference position coordinate poor and described actual heading angle and the reference course angle
Differential seat angle；
According to the reference linear velocity and reference steering angle speed in current curve of walking error and the robot and
The first distance of first steering wheel of the mass center of the robot away from the robot, the robot mass center away from the robot
The second steering wheel second distance, determine that the first object linear velocity of the first steering wheel of the robot and first object beat angle,
And determine that the second target linear velocity of the second steering wheel of the robot and the second target beat angle；
It controls first steering wheel and beats angle and first object linear velocity walking according to the first object, and described in control
Second steering wheel beats angle according to second target and second target linear velocity is walked.
2. the method according to claim 1, wherein described sit according to the physical location at robot current time
Mark, the actual heading angle at the robot current time, the robot current time corresponding reference bit on reference locus
The reference course angle of coordinate and the robot current time on reference position is set, determines the robot current time
Walking error, comprising:
According to the actual steering angular speed at the robot current time of measurement, the reality at the robot current time is determined
Course angle ψA；
According to the actual heading angle of the robot previous moment, the practical systemic velocity of the robot previous moment and institute
The actual position coordinate for stating robot previous moment determines the actual position coordinate (X at the robot current timeA,YA)；
According to formula:Determine the walking error e at current time；Wherein,
(the XR,YR) be the robot current time reference position coordinate；The ψRFor the reference at the robot current time
Course angle, the e1For (the XA,YA) and (XR,YR) range difference on the robot direction of travel, the e2For
(the XA,YA) and (XR,YR) range difference on the other direction perpendicular to the direction of travel, the e3For the ψA
With the ψRDifferential seat angle.
3. according to the method described in claim 2, it is characterized in that, described working as according to the walking error and the robot
The mass center of reference linear velocity and reference steering angle speed and the robot in preceding bend is away from the first rudder of the robot
The first distance of wheel, the robot mass center away from the second distance of the second steering wheel of the robot, determine the robot
The first steering wheel first object linear velocity and first object beat angle, and determine the second mesh of the second steering wheel of the robot
Graticule speed and the second target beat angle, comprising:
According to the reference linear velocity and reference steering angle speed of the walking error and the robot in current curve, determine
The target centroid speed and target diversion angular speed at the robot current time；
According to the mass center of the target centroid speed, the target diversion angular speed and the robot away from the robot
The first distance of first steering wheel, the robot mass center away from the second distance of the second steering wheel of the robot, determine described in
The first object linear velocity and first object of first steering wheel of robot beat angle, and determine the second steering wheel of the robot
Second target linear velocity and the second target beat angle.
4. according to the method described in claim 3, it is characterized in that, described working as according to the walking error and the robot
Reference linear velocity and reference steering angle speed in preceding bend determine the target centroid speed and mesh at the robot current time
Mark steering angular velocity, comprising:
Determine reference linear velocity v of the robot in current curveRWith reference steering of the robot in current curve
Angular speedWherein, the corresponding v of different location in the same bendREqual, in the same bend different location
It is correspondingIt is equal, the vREqual to the practical systemic velocity that the robot enters the curved moment；
According to formula:Determine the target centroid speed at the robot current time
vA' and target diversion angular speed
Wherein, described k1, k2, k3 are free variable, and described k1, k2, k3 are positive integer.
5. according to the method described in claim 4, it is characterized in that, described turn according to the target centroid speed, the target
The mass center of the first distance of the first steering wheel to the mass center of angular speed and the robot away from the robot, the robot
The second distance of the second steering wheel away from the robot determines the first object linear velocity and of the first steering wheel of the robot
One target beats angle, and determines that the second target linear velocity of the second steering wheel of the robot and the second target beat angle, comprising:
According to formulaDetermine that the first object of the first steering wheel of the robot beats angle θfr'；Wherein,
The lfrFor the robot mass center away from the first distance of the first steering wheel of the robot；
According to formulaDetermine that the second target of the second steering wheel of the robot beats angle θre'；
Wherein, the lreFor the robot mass center away from the second distance of the second steering wheel of the robot；
According to formula vA'=vfr'cosθfr'+vre'cosθre' and vfr'=vre' determine the robot the first steering wheel first
Target linear velocity vfr' and the robot the second steering wheel the second target linear velocity vre'。
6. according to the method described in claim 4, it is characterized in that, reference of the determination robot in current curve
Linear velocity vR, comprising:
According to the actual position coordinate (X at the robot current timeA,YA) and current curve on the reference locus rise
Beginning reference position coordinate, determines whether the robot is currently in into curved initial position；
If so, entering curved line speed and first the first of the first steering wheel for entering curved initial position according to the robot of measurement
Enter it is curved beat angle, the second steering wheel second enter curved line speed and second enter it is curved beat angle, determine the robot in current curve
With reference to linear velocity vR。
7. according to the described in any item methods of claim 2-6, which is characterized in that at the determination robot current time
Walking error before, the method also includes:
It is corresponding on reference locus according to the actual position coordinate at the robot current time and the robot current time
Reference position coordinate, determine whether the robot current time is in current curve；
If so, according to the actual position coordinate at robot current time, the actual heading angle at the robot current time, institute
The robot current time corresponding reference position coordinate on reference locus and the robot current time are stated in reference bit
The reference course angle set determines the walking error at the robot current time.
8. the method according to the description of claim 7 is characterized in that the physical location according to the robot current time
Coordinate and the robot current time corresponding reference position coordinate on reference locus, determine the robot current time
Whether in current curve, comprising:
If the XAAbsolute value be less than the XRAbsolute value, it is determined that the robot current time is in current curve；
Alternatively,
If the YAAbsolute value be less than the YRAbsolute value, it is determined that the robot current time is in current curve.
9. a kind of device for controlling robot ambulation characterized by comprising
First determining module, for the actual position coordinate according to the robot current time, the robot current time
Actual heading angle, the robot current time corresponding reference position coordinate and the robot on reference locus
Reference course angle of the current time on reference position, determines the walking error at the robot current time；Wherein, the row
Walk error include the distance between the actual position coordinate and the reference position coordinate poor and described actual heading angle with
The differential seat angle with reference between course angle；
Second determining module, for the reference linear velocity and ginseng according to the walking error and the robot in current curve
The mass center of steering angular velocity and the robot is examined away from the first distance of the first steering wheel of the robot, the robot
Second steering wheel of the mass center away from the robot second distance, determine the first object linear speed of the first steering wheel of the robot
Degree and first object beat angle, and determine that the second target linear velocity of the second steering wheel of the robot and the second target beat angle；
Control module beats angle and the first object linear velocity row according to the first object for controlling first steering wheel
It walks, and control second steering wheel beats angle according to second target and second target linear velocity is walked.
10. a kind of robot, including memory and processor, the memory are stored with computer program, which is characterized in that institute
State the step of realizing any one of claims 1 to 8 the method when processor executes the computer program.
11. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the computer program
The step of method described in any item of the claim 1 to 8 is realized when being executed by processor.
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| CN113156937A (en) * | 2021-02-05 | 2021-07-23 | 浙江亿控自动化设备有限公司 | Magnetic navigation control algorithm applied to double steering wheels |
| WO2021217988A1 (en) * | 2020-04-28 | 2021-11-04 | 平安科技（深圳）有限公司 | Movement control method and apparatus, storage medium, and computer device |
| WO2022127541A1 (en) * | 2020-12-16 | 2022-06-23 | 北京极智嘉科技股份有限公司 | Robot and localization method |
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| CN112550443A (en) * | 2020-12-15 | 2021-03-26 | 国以贤智能科技(上海)股份有限公司 | Steering control method, device, equipment and storage medium |
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| CN112882476A (en) * | 2021-01-26 | 2021-06-01 | 佛山市光华智能设备有限公司 | Control method and control device for controlling AGV body steering |
| CN113156937A (en) * | 2021-02-05 | 2021-07-23 | 浙江亿控自动化设备有限公司 | Magnetic navigation control algorithm applied to double steering wheels |
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