CN110333724B - Control method for multi-robot group body movement in unknown environment - Google Patents
Control method for multi-robot group body movement in unknown environment Download PDFInfo
- Publication number
- CN110333724B CN110333724B CN201910662931.0A CN201910662931A CN110333724B CN 110333724 B CN110333724 B CN 110333724B CN 201910662931 A CN201910662931 A CN 201910662931A CN 110333724 B CN110333724 B CN 110333724B
- Authority
- CN
- China
- Prior art keywords
- robot
- boundary
- environment
- neighbor
- wheel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0289—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling with means for avoiding collisions between vehicles
Abstract
The invention provides a control method for the body movement of multiple robots in an unknown environment, wherein the robots are two-wheel differential drive robots, each robot is provided with an infrared sensor in each direction, and can detect environment boundaries, neighbor robots and obstacles in the environment; the invention avoids the dependence on coordinate information, adopts the mode of autonomous detection on the current environment boundary and mutual perception between individuals, and realizes autonomous movement under three scenes of detecting the environment boundary, group movement and autonomous bypassing obstacles.
Description
Technical Field
The invention relates to group movement of multiple robots under an unknown environment condition, and belongs to the field of multi-agent control.
Background
The bee crowding movement in the biological population has the characteristic of a self-organizing distribution system. The constant blending of the bee-brooding technology and the robot technology makes the new technology of the swarm robot become a research hotspot in the information and industrialization process, and the robot and the intelligent system have great prospect in the future.
In existing multi-robot systems, the formation of distributed group movements relies on known environmental map information. In an actual situation, the robot does not have a prior condition with known global coordinates when executing a task, and meanwhile, a distributed control algorithm mostly stays in a simulation level and lacks verification and support of an actual experiment.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a control method for the movement of a plurality of robot groups in an unknown environment, which avoids the dependence on coordinate information, adopts a mode of autonomously detecting the boundary of the current environment and mutual perception between the individuals, completes the establishment, the update and the maintenance of a system model, realizes the group movement of the robots, and verifies the effectiveness of the proposed algorithm through practical experiments.
The technical scheme of the invention is as follows:
the control method for the movement of the multiple robot groups in the unknown environment is characterized by comprising the following steps: the robot is a two-wheel differential drive robot, each robot is provided with an infrared sensor in each direction, and the robot can detect an environment boundary, a neighbor robot and an obstacle in the environment; the control method comprises the following steps:
step 1: initializing initial pose information and a target formation of the mobile robot in an unknown environment;
step 2: the mobile robot detects the environment boundary, and the rotating speeds of two wheels of the robot are respectively:
wherein v isk(t) reference speed of the robot, eφ(t)＝φ(t)-Φ,edD (t), D (t) and phi (t) are the angle of the robot right ahead of the motion relative to the environment boundary, D (t) is the actual distance between the robot and the environment boundary, D is the expected distance from the boundary, and phi is the distance between the robot and the environment boundary
Or
When the environment boundary is located at the right side of the robot, phi is
Otherwise is
ed(t)′、eφ(t)' is the rate of change of error, vdo(t)、vdI(t) is a distance control quantity, v, close to and far from the environmental boundaryφo(t)，vφI(t) angle control quantity, k, near and far from the environmental boundarypd、kdd、kpφ、kdφRespectively corresponding regulating coefficients; then, the left-right wheel speed v of the robot based on the environment boundary strategy is obtained according to the rotating speed of the two-wheel motor of the robotL1(t)、vR1(t) is
And step 3: the rear following robot detects the neighbor robot to obtain the relative position and angle with the neighbor robot, and according to the approach control and alignment control strategy, the left and right wheel speeds are respectively obtained
Wherein v is0Is a reference speed of the robot, p is an approach control amount, a is an alignment control amount:
p＝ks1(s(t)-s0)+ks2(s(t)-s0)′
a＝kθ1(θ(t)-θ0)+kθ2(θ(t)-θ0)′
s0the set distance between the robot and the neighbor, s (t) is the distance between the robot and the neighbor under the actual condition, (s (t) -s0) ' is the rate of change of the amount of deviation, ks1、ks2Theta is the relative angular relationship between the robot and the neighbor in practice for the corresponding adjustment coefficient, theta0Relative angle between robot and neighbor set for system, (θ (t) - θ0) ' is the rate of change of the amount of deviation, kθ1、kθ2The corresponding adjustment coefficients; if the rear following robot detects the neighbor information and the environment boundary information at the same time, the theta is set0The angle is 0 degrees, and then the speeds of the left wheel and the right wheel are obtained according to the approach control and alignment control strategy in the step 3;
and 4, step 4: if the robot encounters an obstacle in the traveling process, the speed of the left wheel and the speed of the right wheel are respectively obtained by the mobile robot based on the weight of the sensor
a, (i), b, (i) the weight values of the ith sensor corresponding to the left and right wheels are set respectively, and ps (i) is the measured value of the sensor.
Advantageous effects
The control method for the movement of the multi-robot group in the unknown environment provided by the invention has the advantages that the dependence on coordinate information is eliminated, the establishment, the updating and the maintenance of a system model are completed by adopting an autonomous detection mode for the boundary of the current environment and mutual perception between individuals, the group movement of the robot is realized, and the effectiveness of the proposed algorithm is verified through practical experiments.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1: a two-wheeled robot model;
FIG. 2: the robot motion state schematic diagram;
FIG. 3: e-a schematic diagram of sensors transmitted and received by a puck robot orientation plate;
FIG. 4: a simulation graph and an experimental effect graph of robot boundary detection;
FIG. 5: a simulation graph of the proximity and alignment controller;
FIG. 6: approaching and aligning the effect maps of the actual demonstration.
Detailed Description
The invention aims to provide a group motion control method for an autonomous detection boundary, which combines a cooperation mechanism of a multi-agent under a high-rise organization and a coordination characteristic on a motion control level to complete group motion of a robot under a local perception condition and realize autonomous motion of the robot under three scenes of detection environment boundary, group motion and autonomous obstacle detour under the condition of limited visual field.
The invention is directed to a two-wheel differential drive robot, and a kinematic model of a single robot is shown in fig. 1.
The global coordinate system of the robot is XOY, and the coordinate system of the robot is XOY, vLAnd vRThe velocity vectors of the left wheel and the right wheel are respectively, the distance between the two wheels is l, and the pose description and the kinematic equation of the robot can be represented by the formula (1):
wherein, x (t),y(t) represents the position coordinates of the robot in a two-dimensional space, v (t) represents the linear velocity when the robot moves, w (t) is the angular velocity, and alpha (t) represents the current heading angle.
The two-wheeled robot actuating mechanism is a driving motor of a left wheel and a right wheel, and the relation between the rotating speed of the left wheel and the rotating speed of the right wheel and the motion equation of the left wheel and the right wheel is as shown in a formula (2).
The following describes control strategies under three scenarios of detecting environmental boundaries, group movements and autonomous circumvention obstacles, respectively:
1) the environment boundary may appear on the left side or the right side of the robot, the robot should keep a certain safe distance and angle with the boundary when moving, phi (t) is the angle of the right front of the robot moving relative to the environment boundary, d (t) is the actual distance between the robot and the environment boundary, as shown in fig. 2;
when steady state is reached there are:
φ(t)→Φ,d(t)→D (3)
d is the desired distance from the boundary, phi should be maintained
Or
When the environment boundary is located at the right side of the robot, phi is
Otherwise is
And this position is determined by equation (4):
wherein v isI(t) is the rotation speed of the motor of the wheel on the side of the two-wheeled robot near the boundary, vo(t) is the rotational speed of the motor of the wheel on the other side, vL1(t)、vR1(t) left and right wheel speeds based on the environmental boundary policy.
2) The control strategy of group motion is based on SCA rules proposed by Reynolds, and the following control forms can be obtained
f＝p+a (5)
Wherein, f is group motion control quantity, p is approach control quantity, which reflects the separation and aggregation rules in the SCA rules, and a is alignment control quantity which represents the alignment rules in the SCA rules.
The approach control is realized by the relative distance of the neighbor individuals, the alignment control is realized by the relative direction relationship of the neighbors, and the design of the approach control quantity is as follows:
p＝ks1(s(t)-s0)+ks2(s(t)-s0)′ (6)
where p is the approach control quantity, s0The set distance between the robot and the neighbor, s (t) is the distance between the robot and the neighbor under the actual condition, (s (t) -s0) ' is the rate of change of the amount of deviation, ks1、ks2Are the corresponding adjustment factors.
Design of alignment control vector:
a＝kθ1(θ(t)-θ0)+kθ2(θ(t)-θ0)′ (7)
where a is an alignment control amount and θ is a relative between the robot and the neighborhood in realityAngular relationship, θ0Relative angle between robot and neighbor set for system, (θ (t) - θ0) ' is the rate of change of the amount of deviation, kθ1、kθ2Are the corresponding adjustment factors.
By the control vector, formation and maintenance of the group formation can be realized.
3) When an obstacle is encountered, the robot must have the capability of self-recognition and detour, the obstacle can be detected by using a detection device carried by the robot, and a controller for changing the wheel speed is designed.
The invention provides a differential generation method with sight weight, which sets the corresponding weights of sensors at different positions as a (i) and b (i), the measured values of the sensors are ps (i), and the measured values of the sensors are weighted to obtain the following formula:
based on the principle, the process of realizing the motion of the robot group in the unknown environment is as follows:
(1) initializing initial pose information of the mobile robot and a target formation;
(2) firstly, environment boundary autonomous detection is carried out, the detection function is based on data fusion of a self-carried sensor of the robot, and the rotating speeds of two-wheel motors of the robot are respectively as follows:
wherein eφ(t)＝φ(t)-Φ,edD (t) D is the systematic direction error and distance error, ed(t)′、eφ(t)' is the rate of change of error, vdo(t)、vdI(t) is a distance control quantity, v, close to and far from the environmental boundaryφo(t)，vφI(t) is the corresponding angle control quantity, kpd、kdd、kpφ、kdφRespectively corresponding regulating coefficients;
and the left and right wheel speeds v of the robot based on the environment boundary strategyL1(t)、vR1(t) is
(3) The rear robot obtains the relative position and angle with the neighbor by detecting the neighbor information, realizes the proximity control and the alignment control according to a set controller, and calculates the speeds of two wheels respectively as
Wherein v is0Is the reference velocity, v, of the robotL2(t)、vR2And (t) is the left and right wheel speed based on the neighbor information control strategy.
(4) When the robot only detects the environment boundary, the robot moves according to the control strategy in the step (2), when only the neighbor information is detected, the robot moves according to the control strategy in the step (3), and when the neighbor information and the environment boundary information are detected at the same time, the expected relative angle theta in the strategy (3) is set0And when the angle is 0 degrees, the movement is finished according to the neighbor information control strategy.
(5) If the robot encounters an obstacle in the process of traveling, the robot can obtain the due differential speed of the left wheel and the right wheel in a mode based on the weight of the sensor, enters an obstacle avoidance mode, and temporarily breaks away from the motion state of (2) or (3), and the control result is as follows:
otherwise, continuing to move according to the queue in (3).
The following detailed description of embodiments of the invention is intended to be illustrative, and not to be construed as limiting the invention.
The present embodiment was studied based on a group robot system composed of e-puck robots, the Federal institute of science and technology of Rosensh, Switzerland: (
Polytechnique F mirale de Lausane).
(1) In the process of detecting the boundary, the relative position and angle relation with the environmental boundary can be obtained by the extended peripheral azimuth board, the schematic diagram of the azimuth board is shown in fig. 3, and the EMI (electro-magnetic interference) is1～EMI12For infrared-emitting sensors, REC1～REC12For the infrared receiving sensor, 12 superposes vector information of the position and the angle obtained by the sensor. Through simulation and actual experiment of the controller in advance, each parameter k can be obtainedpd＝0.1256，kdd＝2.512，kpφ＝0.3768，kdφIn order to simulate a good actual operation effect in the simulation, assuming that the wall surface is a curved surface similar to a sine function, the e-puck robot moves along the boundary with a certain distance from the right boundary, and sets several groups of different expected distance values, and a simulation effect graph and an experimental effect graph of the distance convergence with time are shown in fig. 4.
(2) When the robot performs group motion, the relative orientation and distance information with the neighbor is still obtained by the orientation plate, in this embodiment, through simulation and actual experiment on the controller, the obtained approach vector and the corresponding adjustment coefficient in the alignment vector are respectively ks1＝0.1884,ks2＝1.304；kθ1＝0.61884,kθ20.3768. The convergence of the following angle and distance with time is shown in fig. 5, the following of three robots is taken as an example in the simulation, and the experimental effect graph of the experiment taking two robots as an example is shown in fig. 6.
(3) In the process of autonomously avoiding obstacles, the e-puck robot obtains the differential speed due to the left wheel and the right wheel of the time by using infrared sensors distributed in all directions of the robot in a sensor weight-based mode, and enters an obstacle avoiding mode, wherein the weight of each sensor is determined by a preliminary test.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art without departing from the principle and spirit of the present invention.
Claims (1)
1. A control method for multi-robot group body movement in an unknown environment is characterized in that: the robot is a two-wheel differential drive robot, each robot is provided with an infrared sensor in each direction, and the robot can detect an environment boundary, a neighbor robot and an obstacle in the environment; the control method comprises the following steps:
step 1: initializing initial pose information and a target formation of the mobile robot in an unknown environment;
step 2: the mobile robot detects the environment boundary, and the rotating speeds of two wheels of the robot are respectively:
wherein v isI(t) is the rotation speed of the motor of the wheel on the side of the two-wheeled robot near the boundary, vo(t) is the rotational speed of the motor of the wheel on the other side, vk(t) reference speed of the robot, eφ(t)＝φ(t)-Φ,edD (t), D (t) and D are respectively the direction error and the distance error of the system, phi (t) is the angle of the right front of the robot motion relative to the environment boundary, D (t) is the side of the robot and the environmentThe actual distance of the boundary, D is the desired distance from the boundary, and Φ is
Or
When the environment boundary is located at the right side of the robot, phi is
Otherwise is
ed(t)′、eφ(t)' is the rate of change of error, vdo(t)、vdI(t) is a distance control quantity, v, close to and far from the environmental boundaryφo(t)，vφI(t) angle control quantity, k, near and far from the environmental boundarypd、kdd、kpφ、kdφRespectively corresponding regulating coefficients; then, the left-right wheel speed v of the robot based on the environment boundary strategy is obtained according to the rotating speed of the two-wheel motor of the robotL1(t)、vR1(t) is
And step 3: the rear following robot detects the neighbor robot to obtain the relative position and angle with the neighbor robot, and according to the approach control and alignment control strategy, the left and right wheel speeds are respectively obtained
Wherein v is0Is a reference speed of the robot, p is an approach control amount, a is an alignment control amount:
p＝ks1(s(t)-s0)+ks2(s(t)-s0)′
a＝kθ1(θ(t)-θ0)+kθ2(θ(t)-θ0)′
s0the set distance between the robot and the neighbor, s (t) is the distance between the robot and the neighbor under the actual condition, (s (t) -s0) ' is the rate of change of the amount of deviation, ks1、ks2Theta is the relative angular relationship between the robot and the neighbor in practice for the corresponding adjustment coefficient, theta0Relative angle between robot and neighbor set for system, (θ (t) - θ0) ' is the rate of change of the amount of deviation, kθ1、kθ2The corresponding adjustment coefficients; if the rear following robot detects the neighbor information and the environment boundary information at the same time, the theta is set0The angle is 0 degrees, and then the speeds of the left wheel and the right wheel are obtained according to the approach control and alignment control strategy in the step 3;
and 4, step 4: if the robot encounters an obstacle in the traveling process, the speed of the left wheel and the speed of the right wheel are respectively obtained by the mobile robot based on the weight of the sensor
ai、biThe set ith sensor corresponds to the weight of the left wheel and the right wheel, the sensor is an infrared sensor distributed in each direction of the robot, and ps (i) is the measured value of the sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910662931.0A CN110333724B (en) | 2019-07-22 | 2019-07-22 | Control method for multi-robot group body movement in unknown environment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910662931.0A CN110333724B (en) | 2019-07-22 | 2019-07-22 | Control method for multi-robot group body movement in unknown environment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110333724A CN110333724A (en) | 2019-10-15 |
| CN110333724B true CN110333724B (en) | 2022-03-15 |
Family
ID=68147103
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910662931.0A Active CN110333724B (en) | 2019-07-22 | 2019-07-22 | Control method for multi-robot group body movement in unknown environment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110333724B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101791800A (en) * | 2010-01-21 | 2010-08-04 | 西北工业大学 | Motion control method of double-wheel differential type robot |
| WO2015171593A1 (en) * | 2014-05-05 | 2015-11-12 | Georgia Tech Research Corporation | Control of swarming robots |
| CN106094835A (en) * | 2016-08-01 | 2016-11-09 | 西北工业大学 | The dynamic formation control method of front-wheel drive vehicle type moving machine device people |
| CN107511824A (en) * | 2017-08-31 | 2017-12-26 | 珠海市微半导体有限公司 | The control method and chip that a kind of robot turns around |
| CN107589743A (en) * | 2017-08-30 | 2018-01-16 | 西北工业大学 | Lack of driven robot self-organizing method for congregating based on binaryzation environmental information |
| CN109782764A (en) * | 2019-01-21 | 2019-05-21 | 湖北汽车工业学院 | A kind of unmanned logistics distribution system of intelligent solar, control method and dispensing vehicle |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8723872B2 (en) * | 2010-06-09 | 2014-05-13 | Disney Enterprises, Inc. | Display with robotic pixels |
-
2019
- 2019-07-22 CN CN201910662931.0A patent/CN110333724B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101791800A (en) * | 2010-01-21 | 2010-08-04 | 西北工业大学 | Motion control method of double-wheel differential type robot |
| WO2015171593A1 (en) * | 2014-05-05 | 2015-11-12 | Georgia Tech Research Corporation | Control of swarming robots |
| CN106094835A (en) * | 2016-08-01 | 2016-11-09 | 西北工业大学 | The dynamic formation control method of front-wheel drive vehicle type moving machine device people |
| CN107589743A (en) * | 2017-08-30 | 2018-01-16 | 西北工业大学 | Lack of driven robot self-organizing method for congregating based on binaryzation environmental information |
| CN107511824A (en) * | 2017-08-31 | 2017-12-26 | 珠海市微半导体有限公司 | The control method and chip that a kind of robot turns around |
| CN109782764A (en) * | 2019-01-21 | 2019-05-21 | 湖北汽车工业学院 | A kind of unmanned logistics distribution system of intelligent solar, control method and dispensing vehicle |
Non-Patent Citations (9)
| Title |
|---|
| Cooperative Game for the Roles Assignment of the Multi-agent Robot System;Wei Na 等;《2018 IEEE 3rd Advanced Information Technology, Electronic and Automation Control Conference》;20181217;第954-957页 * |
| Decentralized Navigation of Networks of Wheeled Mobile Robots with Limited Communication;Andrey V. Savkin 等;《2008 IEEE International Conference on Robotics and Biomimetics》;20090508;第1689-1692页 * |
| Distributed Circular Formation Control of Multi-Robot Systems with Directed Communication Topology;Yu Xiao 等;《2016 35th Chinese Control Conference》;20160829;第8014-8019页 * |
| Reynolds flocking in reality with fixed-wing robots: Communication range vs. maximum turning rate;Sabine Hauert 等;《2011 IEEE/RSJ International Conference on Intelligent Robots and Systems》;20111205;第5015-5020页 * |
| 两轮差速驱动移动机器人的运动模型与控制研究;阮志虎;《中国优秀硕士学位论文全文数据库 信息科技辑》;20160615;第I140-210页 * |
| 两轮自平衡机器人系统的设计;袁帅;《中国优秀硕士学位论文全文数据库信息科技辑》;20121015;第I140-1044页 * |
| 基于自组织结对行为的群集机器人分群控制方法;杨盼盼 等;《西北工业大学学报》;20150215;第33卷(第01期);第147-152页 * |
| 轮式移动机器人的队形控制研究;毛文勇;《中国优秀硕士学位论文全文数据库信息科技辑》;20190715;第I140-305页 * |
| 轮式移动机器人移动性能研究及样机设计开发;上官望义;《中国博士学位论文全文数据库信息科技辑》;20110215;第I140-33页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110333724A (en) | 2019-10-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113759900B (en) | Method and system for track planning and real-time obstacle avoidance of inspection robot based on obstacle region prediction | |
| Song et al. | Navigation control design of a mobile robot by integrating obstacle avoidance and LiDAR SLAM | |
| KR20210066791A (en) | Systems and Methods for Optimizing Path Planning for Tight Turns in Robotic Devices | |
| CN111290429B (en) | Unmanned aerial vehicle formation based on consistency algorithm and artificial potential field method and obstacle avoidance control method thereof | |
| Mohta et al. | Vision-based control of a quadrotor for perching on lines | |
| CN102736626B (en) | Vision-based pose stabilization control method of moving trolley | |
| KR101664575B1 (en) | Method to obstacle avoidance for wheeled mobile robots | |
| CN102788591A (en) | Visual information-based robot line-walking navigation method along guide line | |
| JP7044061B2 (en) | Mobiles, mobile control systems, mobile control methods, interface devices, and programs | |
| JP2008142841A (en) | Mobile robot | |
| CN109407653A (en) | A kind of indoor universal multiple mobile robot algorithm checking system | |
| CN113190020A (en) | Mobile robot queue system and path planning and following method | |
| CN108759822A (en) | A kind of mobile robot 3D positioning systems | |
| KR20120129002A (en) | Underwater robot and Method for controlling the same | |
| Jun et al. | Autonomous driving system design for formula student driverless racecar | |
| Wu et al. | Vision-based target detection and tracking system for a quadcopter | |
| Hu et al. | Optimal path planning for mobile manipulator based on manipulability and localizability | |
| CN113589685B (en) | Vehicle moving robot control system and method based on deep neural network | |
| CN110333724B (en) | Control method for multi-robot group body movement in unknown environment | |
| Woo | Mobile robot path planning with randomly moving obstacles and goal | |
| Lai et al. | Hierarchical incremental path planning and situation-dependent optimized dynamic motion planning considering accelerations | |
| JP2016062441A (en) | Omnidirectional transfer vehicle | |
| CN115993089B (en) | PL-ICP-based online four-steering-wheel AGV internal and external parameter calibration method | |
| WO2020136977A1 (en) | Path determination device, robot, and path determination method | |
| Kecskés et al. | Modeling and fuzzy control of a four-wheeled mobile robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |