CN110842922A - Direction angle control method and system for non-standard connection pulling type mobile robot - Google Patents

Direction angle control method and system for non-standard connection pulling type mobile robot Download PDF

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CN110842922A
CN110842922A CN201911133624.XA CN201911133624A CN110842922A CN 110842922 A CN110842922 A CN 110842922A CN 201911133624 A CN201911133624 A CN 201911133624A CN 110842922 A CN110842922 A CN 110842922A
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robot
angle
traction
pulling type
pull
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CN110842922B (en
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程金
赵钦君
徐元
王中华
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University of Jinan
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls

Abstract

The method comprises the steps of obtaining a traction robot steering angle control law related to the current included angle and the expected direction angle of a traction robot and a traction robot according to the obtained parameters of the traction robot and the traction robot, and dragging the traction robot to perform stable reverse motion according to the expected direction angle by the traction robot moving according to the set steering angle; the method solves the problem of direction tracking control of the non-standard connection pulling type mobile robot, provides theoretical guidance for the reverse motion control of the non-standard connection pulling type mobile robot, has obvious beneficial effects, and is suitable for application and popularization.

Description

Direction angle control method and system for non-standard connection pulling type mobile robot
Technical Field
The disclosure relates to the technical field of robot direction angle control, in particular to a method and a system for controlling a direction angle of a non-standard connection pulling type mobile robot.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
The trailed mobile robot consists of a traction robot (tracker) positioned at the forefront end and a plurality of passive trailers (trailers) dragged by the traction robot, the traction robot performs steering and driving functions, and the trailers move along with the traction robot. The pulling type mobile robot has the motion capability of the mobile robot on one hand, and can expand other functions of the mobile robot on the other hand. The pulling type mobile robot has higher application value. Currently, the research objects of the pull-type mobile robot are mainly indoor service robots, such as cleaning robots, rescue robots, and transportation robots used for transporting goods, transporting luggage, transferring goods, and the like in factory warehouses and airports. For example, the cleaning robot can draw a truck for sweeping and collecting garbage after the robot is moved, so that the cost is reduced and the efficiency is improved; in addition, the rescue robot can increase the transportation capacity of the rescue robot through pulling, and meanwhile, the section number of the pulling robot can be flexibly changed so as to transport a large number of objects.
The international association of robotics has a preliminary definition of a service robot: the service robot is a semi-autonomous or fully autonomous working robot which can perform service work beneficial to human beings, but does not include equipment for production. The service robot can be considered to be various robots except an industrial robot in a broad sense, and is mainly applied to service industry, such as an underwater robot, a cleaning robot, a rescue robot and the like. At present, service robots are growing at a rapid pace. In recent years, service robots have been on the high-speed growth trend in the domestic market.
Aiming at a standard connected pull type mobile robot, the system can move from an initial state to any required state by utilizing a sine time-varying method according to a chain type power-zero system, and researchers put forward a concept of introducing flatness and linear output so as to solve the parking problem of the mobile robot with two sections of pull type robots; for the unconverted system, researchers have proposed a vector field orientation controller for a robot with n sections of a towed robot that can guide the robot to move stably to a given point. The problem of path and trajectory tracking of mobile robots with towed robots has also been studied by many experts; researchers specially design a hybrid controller for trucks and trailer robots, and the hybrid controller can stably track tracks, so that the influence of jack-knife is avoided; researchers use the Lyapunov technology to provide an asymptotically stable path tracking controller for a single-shaft pulling type robot; researchers have proposed a robust adaptive feedback linearized dynamic controller to track a reference trajectory planned according to a mobile robot kinematics model; for a standard connected pulling type mobile robot, researchers provide a direction angle control method for n sections of pulling type mobile robots during reverse movement.
The inventor of the present disclosure finds that the research on the non-standard connected pull-type mobile robot is relatively less, and from the control problem research perspective, the difficulty of the reverse motion control problem of the mobile robot with the pull-type robot is greater due to the inherent characteristics of the pull-type mobile robot system, such as high nonlinearity of a kinematic model, incomplete constraint, singular structure and instability during reverse motion.
Disclosure of Invention
In order to solve the defects of the prior art, the method and the system for controlling the direction angle of the non-standard connection pulling type mobile robot are provided, the pulling robot is controlled to move according to the set steering angle by setting the steering angle control law of the pulling robot, and the pulling type robot can be pulled to carry out stable reverse movement according to the expected direction angle.
In order to achieve the purpose, the following technical scheme is adopted in the disclosure:
the first aspect of the disclosure provides a direction angle control method for a non-standard connection pulling type mobile robot.
A method for controlling the direction angle of a non-standard connection pulling type mobile robot is characterized in that a pulling robot steering angle control law related to the current included angle and the expected direction angle of the pulling type robot and the pulling type robot is obtained according to the obtained parameters of the pulling type robot and the pulling type robot, the pulling type robot moves according to the set steering angle, and the pulling type robot is dragged to perform stable reverse movement according to the expected direction angle.
As some possible implementations, the steering angle control law specifically includes:
Figure BDA0002278999100000031
wherein, γ1Is the angle between the towing robot and the trailed robot, gammadIs the difference between the included angle of the towed robot and the desired direction angle, s1For defined auxiliary variables, k1In order to control the coefficients of the process,for the front-wheel steering angle, L, of the towing robot1Wheelbase of the traction robot, LtLength of link, L, of pull-type robot2The length of the body of the trailer robot.
As a further limitation, a kinematic model of the pull-type mobile robot is established, specifically:
Figure BDA0002278999100000033
Figure BDA0002278999100000034
Figure BDA0002278999100000035
Figure BDA0002278999100000036
wherein the content of the first and second substances,
Figure BDA0002278999100000037
derivatives of the abscissa and ordinate, theta, respectively, of the center of the rear axle of the traction robot1Is the angle between the direction of motion of the towing robot and the X direction, theta2Is an included angle between the motion direction of the pulling type robot and the X direction,
Figure BDA0002278999100000041
and
Figure BDA0002278999100000042
are each theta1And theta2V is the linear velocity of the rear wheel of the traction robot.
As a further limitation, auxiliary variables are defined, specifically:
s0＝sinγd
s1＝sinγd-sinγ1
further, obtaining s0And s1The derivative of (c) is:
Figure BDA0002278999100000043
Figure BDA0002278999100000044
as a further limitation, k is1The calculation method specifically comprises the following steps:
Figure BDA0002278999100000045
as a still further limitation thereof,
Figure BDA0002278999100000046
and
Figure BDA0002278999100000047
an interconnection system is formed, and the method specifically comprises the following steps:
Figure BDA0002278999100000048
wherein the content of the first and second substances,
Figure BDA0002278999100000049
Figure BDA00022789991000000411
g2(s)＝0。
as a further limitation, according to the conclusion of the theorem on the interconnection system, when t → ∞, there is s0→ 0 and s1→0；
Further, when s0→ 0 and s1In case of → 0, there is γd→0，γ1→ 0, i.e. θ1→θd，θ2→θdBy controlling the steering angle of the front wheels of the towing robot
Figure BDA0002278999100000051
Namely, the stable back tracking expected direction angle theta of the pulling type mobile robot can be controlledd。
A second aspect of the present disclosure provides a non-standard connection pull type mobile robot steering angle control system.
A non-standard connection pulling type mobile robot direction angle control system comprises a pulling robot and a pulling type robot, and further comprises:
a data acquisition module configured to: collecting parameters of a traction robot and a pulling robot in real time;
a control law construction module configured to: obtaining a traction robot steering angle control law related to the current included angle and the expected direction angle of the traction robot and the traction robot according to the obtained parameters of the traction robot and the traction robot;
a motion control module configured to: the traction robot moves according to a set steering angle, and the traction robot is dragged to perform stable reverse motion according to an expected direction angle;
the steering angle control law specifically includes:
Figure BDA0002278999100000052
wherein, γ1Is the angle between the towing robot and the trailed robot, gammadIs the difference between the included angle of the towed robot and the desired direction angle, s1For defined auxiliary variables, k1In order to control the coefficients of the process,
Figure BDA0002278999100000053
for the front-wheel steering angle, L, of the towing robot1Wheelbase of the traction robot, LtLength of link, L, of pull-type robot2The length of the body of the trailer robot.
A third aspect of the present disclosure provides a readable storage medium having stored thereon a program that, when executed by a processor, performs the steps in the non-standard link-hitching mobile robot steering angle control method according to the first aspect of the present disclosure.
A fourth aspect of the present disclosure provides an electronic device, comprising a memory, a processor, and a program stored on the memory and executable on the processor, wherein the processor executes the program to implement the steps in the method for controlling the directional angle of a non-standard connected mobile robot according to the first aspect of the present disclosure.
Compared with the prior art, the beneficial effect of this disclosure is:
1. according to the control method, the traction robot is controlled to move according to the set steering angle by setting the steering angle control law of the traction robot, so that the pull-type robot can be dragged to perform stable reverse movement according to the expected direction angle, the problem of direction tracking control of the non-standard connection pull-type mobile robot is solved, theoretical guidance is provided for the reverse movement control of the non-standard connection pull-type mobile robot, the beneficial effects are obvious, and the control method is suitable for application and popularization.
2. The steering angle control law completely depends on the motion parameters and the size parameters of the traction robot and the pull robot, no additional parameter needs to be introduced, and the accuracy of the direction control of the robot is greatly improved.
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Fig. 1 is a schematic structural diagram of a non-standard connection-based mobile robot provided in embodiment 1 of the present disclosure.
Detailed Description
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present disclosure. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The embodiments and features of the embodiments in the present application may be combined with each other without conflict.
Example 1:
an embodiment 1 of the present disclosure provides a method for controlling a direction angle of a non-standard connected pull-type mobile robot, where the pull-type mobile robot in this embodiment is composed of a pull robot and a section of pull robot connected non-standard, as shown in fig. 1.
The traction robot is driven by the front wheel to the rear wheel, and the steering angle of the front wheel of the traction robot is set as
Figure BDA0002278999100000071
The linear velocity of the rear wheel is v. Is defined asWhen the front wheel turns to the left, when
Figure BDA0002278999100000073
The front wheel turns to the right; the pulling type robot is connected with the front traction robot through an axle, and the axle distance of the traction robot is set to be L1The length of the connecting rod of the pulling type robot is LtThe length of the body of the pulling type robot is L2。Pi(xi,yi) And (i ═ 1,2) are the rear axle center point coordinates of the traction robot and the trailer robot, and are used for describing the positions of the traction robot and the trailer robot in a Cartesian coordinate system. In this example, take L1＝1m，Lt＝0.5m，L2＝2m。
The embodiment is specifically realized by the following steps:
(a) establishing a kinematic model of the pull type mobile robot:
Figure BDA0002278999100000074
wherein x is1、y1Composed of points (x)1、y1) Is the position coordinate of the center of the rear axle of the traction robot; gamma ray1Is the angle between the towing robot and the trailed robot, gamma1＝θ1-θ2。
Defining the desired direction angle as thetadAnd thetadIs constant, i.e.
Figure BDA0002278999100000075
And satisfy
Figure BDA0002278999100000076
θ2(0) Is the initial value of the direction angle of the towed robot. In the present embodiment
Figure BDA0002278999100000077
The initial value state of the pulling type mobile robot is set as follows: x is the number of1＝0,y1＝0,θ1(0)＝π,θ2(0)＝π。
(b) Defining auxiliary variables
s0＝sinγd(2)
s1＝sinγd-sinγ1(3)
Wherein, γd＝θ2-θd。
(c) From the system (1), s is derived0And s1The derivative of (c) is:
Figure BDA0002278999100000082
designing a control law:
Figure BDA0002278999100000083
then there are:
Figure BDA0002278999100000084
bringing (7) into (5), s1The derivative of (d) can be rewritten as:
(d) equations (4) and (8) may form an interconnect system in the form described by equation (9).
Figure BDA0002278999100000086
Wherein the content of the first and second substances,
Figure BDA0002278999100000087
g2(s)＝0。
for the interconnect system described by equation (9), the following theorem holds:
if the system (9) satisfies the following condition:
Figure BDA0002278999100000091
Figure BDA0002278999100000092
Figure BDA0002278999100000093
Figure BDA0002278999100000094
the matrix S is an M matrix:
Figure BDA0002278999100000095
α thereiniAnd βiIs a normal number, phii(. cndot.) is a positive and continuous function, the interconnected system (9) is asymptotically stable at the system origin x, 0.
For the interconnected system formed by equations (4) and (8), the lyapunov function is defined:
Figure BDA0002278999100000096
and
Figure BDA0002278999100000097
then function f1(s0) And f2(s1) The following conditions are satisfied:
Figure BDA0002278999100000098
Figure BDA0002278999100000099
wherein the content of the first and second substances,
Figure BDA00022789991000000910
φ1(s0)＝|s0|，
Figure BDA00022789991000000911
φ2(s1)＝|s1l, |; and V is1And V2Meets the requirements;
Figure BDA00022789991000000912
wherein, β1＝1，β2＝1。
For function g1(s) having:
because:
Figure BDA0002278999100000102
substituting equation (13) to obtain:
namely:
|g1(s)|≤γ11φ1(s0)+γ12φ2(s1) (15)
wherein
Figure BDA0002278999100000104
For function g2(s) due to g2(s) ═ 0, with:
|g2(s)|≤γ21φ1(s0)+γ22φ2(s1) (16)
wherein gamma is21And gamma22Is an arbitrary non-negative constant.
(e) Definition matrix
Figure BDA0002278999100000105
Wherein the content of the first and second substances,
Figure BDA0002278999100000111
sequence master-slave type of known S matrix
Figure BDA0002278999100000112
Figure BDA0002278999100000113
Order to
Figure BDA0002278999100000114
Then there are:
Figure BDA0002278999100000115
selection c1<k1，
Figure BDA0002278999100000116
Then | S |)>0, S, is an M matrix.
(f) According to the theorem of the interconnected system, the two interconnected subsystems (4) and (8) meet the conditions C1-C5, and according to the conclusion of the theorem of the interconnected system, the systems (4) and (8) are asymptotically stable at the origin, namely: when t → ∞ is present s0→ 0 and s1→0。
According to definitions (2) and (3), when s is0→ 0 and s1In case of → 0, there is γd→0，γ1→ 0, i.e. θ1→θd，θ2→θdBy controlling the steering angle of the front wheels of the towing robot
Figure BDA0002278999100000117
Namely, the stable back tracking expected direction angle theta of the pulling type mobile robot can be controlledd。
Example 2:
the embodiment 2 of the present disclosure provides a non-standard connection pulling type mobile robot direction angle control system, including pulling robot and pulling type robot, still include:
a data acquisition module configured to: collecting parameters of a traction robot and a pulling robot in real time;
a control law construction module configured to: obtaining a traction robot steering angle control law related to the current included angle and the expected direction angle of the traction robot and the traction robot according to the obtained parameters of the traction robot and the traction robot;
a motion control module configured to: the traction robot moves according to a set steering angle, and the traction robot is dragged to perform stable reverse motion according to an expected direction angle;
the steering angle control law specifically includes:
wherein, γ1Is the angle between the towing robot and the trailed robot, gammadIs the difference between the included angle of the towed robot and the desired direction angle, s1For defined auxiliary variables, k1In order to control the coefficients of the process,
Figure BDA0002278999100000122
for the front-wheel steering angle, L, of the towing robot1Wheelbase of the traction robot, LtLength of link, L, of pull-type robot2The length of the body of the trailer robot.
Example 3:
the embodiment 3 of the present disclosure provides a readable storage medium, on which a program is stored, which when executed by a processor, implements the steps in the non-standard connection pull-type mobile robot direction angle control method according to the embodiment 1 of the present disclosure.
Example 4:
an embodiment 4 of the present disclosure provides an electronic device, which includes a memory, a processor, and a program stored in the memory and executable on the processor, where the processor executes the program to implement the steps in the method for controlling the directional angle of a non-standard connected mobile robot according to embodiment 1 of the present disclosure.
The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure, and various modifications and changes may be made to the present disclosure by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.

Claims (10)

1. A method for controlling the direction angle of a non-standard connection pulling type mobile robot is characterized in that a pulling robot steering angle control law related to the current included angle and the expected direction angle of the pulling type robot and the pulling type robot is obtained according to the obtained parameters of the pulling type robot and the pulling type robot, the pulling type robot moves according to the set steering angle, and the pulling type robot is dragged to perform stable reverse movement according to the expected direction angle.
2. The method for controlling the steering angle of a non-standard connected pull-type mobile robot according to claim 1, wherein the steering angle control law specifically comprises:
Figure FDA0002278999090000011
wherein, γ1Is the angle between the towing robot and the trailed robot, gammadIs the difference between the included angle of the towed robot and the desired direction angle, s1For defined auxiliary variables, k1In order to control the coefficients of the process,
Figure FDA0002278999090000012
for the front-wheel steering angle, L, of the towing robot1Wheelbase of the traction robot, LtLength of link, L, of pull-type robot2The length of the body of the trailer robot.
3. The method for controlling the directional angle of a non-standard connected pull-type mobile robot according to claim 2, wherein the establishing of the kinematic model of the pull-type mobile robot is specifically:
Figure FDA0002278999090000013
Figure FDA0002278999090000014
Figure FDA0002278999090000015
Figure FDA0002278999090000016
wherein the content of the first and second substances,
Figure FDA0002278999090000017
derivatives of the abscissa and ordinate, theta, respectively, of the center of the rear axle of the traction robot1Is the angle between the direction of motion of the towing robot and the X direction, theta2Is an included angle between the motion direction of the pulling type robot and the X direction,
Figure FDA0002278999090000018
and
Figure FDA0002278999090000019
are each theta1And theta2V is the linear velocity of the rear wheel of the traction robot.
4. The method according to claim 3, wherein the auxiliary variables are defined as:
s0＝sinγd
s1＝sinγd-sinγ1
further, obtaining s0And s1The derivative of (c) is:
Figure FDA0002278999090000021
Figure FDA0002278999090000022
5. the method of controlling the directional angle of a non-standard link-mounted mobile robot according to claim 4, wherein k is a function of the link angle1The calculation method specifically comprises the following steps:
Figure FDA0002278999090000023
6. the non-standard connection pull-type mobile robot direction angle control method according to claim 5,
Figure FDA0002278999090000024
and
Figure FDA0002278999090000025
an interconnection system is formed, and the method specifically comprises the following steps:
Figure FDA0002278999090000026
wherein the content of the first and second substances,
Figure FDA0002278999090000027
Figure FDA0002278999090000028
Figure FDA0002278999090000029
g2(s)＝0。
7. the non-standard connection pull-type mobile robot direction angle control method according to claim 6, characterized in that according to the conclusion of the interconnection system theorem, when t → ∞, there is s0→ 0 and s1→0；
Further, when s0→ 0 and s1In case of → 0, there is γd→0，γ1→ 0, i.e. θ1→θd，θ2→θdBy controlling the steering angle of the front wheels of the towing robotNamely, the stable back tracking expected direction angle theta of the pulling type mobile robot can be controlledd。
8. The utility model provides a non-standard connection pull type mobile robot direction angle control system which characterized in that, includes traction robot and pull type robot, still includes:
a data acquisition module configured to: collecting parameters of a traction robot and a pulling robot in real time;
a control law construction module configured to: obtaining a traction robot steering angle control law related to the current included angle and the expected direction angle of the traction robot and the traction robot according to the obtained parameters of the traction robot and the traction robot;
a motion control module configured to: the traction robot moves according to a set steering angle, and the traction robot is dragged to perform stable reverse motion according to an expected direction angle;
the steering angle control law specifically includes:
Figure FDA0002278999090000032
wherein, γ1Is the angle between the towing robot and the trailed robot, gammadIncluded angle for a pulling type robotDifference from desired direction angle, s1For defined auxiliary variables, k1In order to control the coefficients of the process,
Figure FDA0002278999090000033
for the front-wheel steering angle, L, of the towing robot1Wheelbase of the traction robot, LtLength of link, L, of pull-type robot2The length of the body of the trailer robot.
9. A readable storage medium having a program stored thereon, wherein the program, when executed by a processor, implements the steps in the non-standard link-hitching mobile robot heading angle control method according to any one of claims 1-7.
10. An electronic device comprising a memory, a processor and a program stored on the memory and executable on the processor, wherein the processor when executing the program performs the steps in the non-standard link pull-type mobile robot heading angle control method according to any one of claims 1-7.
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