CN111623777A - Contour line tracking method based on field intensity information - Google Patents
Contour line tracking method based on field intensity information Download PDFInfo
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- G01—MEASURING; TESTING
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Abstract
The invention provides a contour line tracking method based on field intensity information, and belongs to the field of robot field source search. The method comprises the steps of firstly establishing a dynamic model of the mobile robot under a plane coordinate system, measuring field intensity information of a signal field of the current position of the robot through a sensor installed on the robot after the mobile robot starts to track an expected isoline, designing a control quantity based on the field intensity information, controlling the mobile robot to reach the expected field intensity, and continuously tracking the isoline corresponding to the intensity. The method only needs field intensity information as a feedback variable, is simple in design, can ensure the global stability of the tracking method under the condition of not limiting the initial state of the mobile robot, and the design of control parameters does not depend on the initial position of the mobile robot. The method can realize effective contour line tracking without the position information of the robot and the distribution of a signal field, has high reliability and is suitable for engineering application.
Description
Technical Field
The invention relates to a contour line tracking method based on field intensity information, and belongs to the field of robot field source search.
Background
With the rapid development of mobile robot technology, field source search performed by a mobile robot has been widely applied in military and civil fields, such as air pollution monitoring, fire monitoring, marine pollution monitoring, and the like.
The contour line tracking is a special field source searching mode: the mobile robot needs to reach the expected field intensity in the tracking process and continuously operates along the corresponding contour line of the field intensity so as to obtain the distribution information of the signal field or draw the contour line.
When contour tracking is performed using a mobile robot, ideally, both the position of the mobile robot and the distribution information of the signal field are available. The desired contour can then be tracked by tracking the gradient or negative gradient direction of the signal field. In general, the position of the mobile robot can be directly obtained by a sensor (such as a global positioning system, an inertial navigation system, etc.) carried by the mobile robot, but distribution information of a signal field cannot be obtained in advance, such as determining the diffusion range of marine pollutants by using the mobile robot. At the moment, the gradient information or the distribution function of the signal field can be estimated by a measuring information design and estimation method of a sensor carried by the mobile robot, and then the contour line tracking is realized by tracking the gradient or the negative gradient direction. Common signal field estimation methods can be divided into two categories: the first is that a single robot changes the position of the robot to obtain field intensity information of different places, and then the distribution information of a signal field is estimated by recording the corresponding relation between the position and the field intensity; the second method is that a plurality of robots measure the field intensity of different positions at the same time to jointly estimate the distribution information of the signal field.
In extreme cases, such as underwater or tunnel environments, the mobile robot cannot obtain its own position information. In this case, the mobile robot cannot estimate the gradient information of the signal field, and therefore, a method of estimating the gradient of the signal field and then designing a control method is not feasible. At this time, it is important to study a control method based on field intensity information.
However, the contour tracking method based on field strength information faces many challenges: 1) the feedback state is limited, and only field intensity measurement can be used; 2) the tracking system of the mobile robot has stronger nonlinearity, and the error between the current field intensity and the field intensity to be tracked needs to be indirectly controlled through the acceleration of the mobile robot; 3) the signal field distribution is unknown and cannot be estimated from the field strength information.
Most of the existing contour line tracking methods based on field intensity information have defects. The document "Method for tracking of environmental level sections by a unified-loop vehicle" designs a sliding-mode control-based contour tracking Method, and the control output of the Method can be switched between the maximum value and the minimum value according to the tracking error, which can cause the problem of "buffeting" in practical application. In addition, the sliding mode control method has a steady-state error in a circular signal field, and also needs to limit the starting state of the mobile robot.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a contour line tracking method based on field intensity information. The invention can ensure the global stability of the control method only by using field intensity measurement as feedback information, does not need to limit the initial state of the robot, does not depend on the initial position of the mobile robot in addition to the design of the control parameters, and can realize the effective tracking of the expected isoline under the condition that the signal field distribution cannot be estimated due to the unknown position of the mobile robot.
The invention provides a field intensity information-based contour line tracking method, which is characterized by comprising the following steps of:
(1) establishing a dynamic model of the mobile robot under a plane coordinate system:
wherein p (t) ═ x (t); y (t)]Indicating the position of the mobile robot at time t, x (t) and y (t) indicating the coordinates of the mobile robot at time t in the x-axis and y-axis, respectively,
shows the rate of change of p (t) at time t, v (t) ([ v:)x(t)；vy(t)]Representing the linear velocity, v, of the mobile robot at time tx(t) and vy(t) linear velocities of the mobile robot on the x-axis and the y-axis at time t, respectively, and a (t) acceleration of the mobile robot at time t;
(2) enabling the mobile robot to start to track the expected contour line, and recording the current time as t;
(3) the mobile robot measures the field intensity of the mobile robot at a position p (t) at the moment t through a sensor installed on the mobile robot, and the expression is as follows:
s(t)＝F(p(t))，
wherein F (p (t)) represents a functional expression of the signal field;
(4) at time t, a (t) is obtained by the following control method:
where ω (t) ═ kpe(t)+kiσ(t)，
sdRepresenting the desired field strength, vd(t)＝v[cosθ(t)；sinθ(t)]Representing the desired velocity of the mobile robot at time t, v is the desired constant linear velocity,
indicating the heading angle of the robot at time t, vx(t) and vy(t) linear velocities in x-axis and y-axis at time t of the mobile robot, respectively, kp>0 denotes a scale factor, ki>0 represents an integration coefficient; k is a radical of1>0，k2>0，k3>0's respectively denote the control parameters of the control,
representing the rate of change of the field strength s (t) at time t,
represents the change rate of the integral term sigma (t) at the time t, e (t) represents the tracking error, and tanh (DEG) represents a standard hyperbolic tangent function;
(5) applying the a (t) obtained in the step (4) to the dynamic model of the mobile robot established in the step (1), and correspondingly moving the mobile robot to the t +1 moment;
(6) and (4) making t be t +1, and then returning to the step (4) again to realize that the mobile robot has the expected field intensity sdIs performed.
The invention has the characteristics and beneficial effects that:
(1) the method can realize the tracking of the expected contour line only by taking the field intensity information as the feedback state, does not need the position information of the mobile robot, and has wide application range, particularly under water or in tunnels and other environments which cannot adopt GPS positioning;
(2) the method can quickly reach the expected field intensity without limiting the initial state of the mobile robot, can ensure the global stability of the control algorithm no matter how the initial state of the robot is, and has simple design and high stability;
(3) the control parameters related by the invention do not depend on the initial state of the mobile robot, do not need to be adjusted according to the initial position of the mobile robot, and are very suitable for practical engineering application.
Drawings
Fig. 1 is a schematic diagram of the principle of the present invention.
Fig. 2 is a schematic diagram of a moving track of the mobile robot in a circular signal field according to an embodiment of the present invention.
Fig. 3 is a schematic diagram of the change of the tracking error in the circular signal field of the mobile robot along with time in the embodiment of the invention.
Fig. 4 is a schematic diagram of a moving robot running track in a scalar signal field according to an embodiment of the present invention.
Fig. 5 is a schematic diagram of a mobile robot tracking error in a scalar signal field according to an embodiment of the invention.
Detailed Description
The invention provides a contour line tracking method based on field intensity information, which is further described in detail with reference to the accompanying drawings and specific embodiments.
The invention provides a contour line tracking method based on field intensity information. The method provided by the invention can realize continuous tracking of the expected contour line only by adopting the field intensity information as the feedback variable, and does not need to limit the initial state of the mobile robot or adjust the control parameters according to the initial position of the mobile robot.
The principle of the contour line tracking method based on field intensity information is shown in figure 1, and the method comprises the following steps:
(1) establishing a dynamic model of the mobile robot under a plane coordinate system:
wherein p (t) ═ x (t); y (t)]Indicating the position of the mobile robot at time t, x (t) and y (t) indicating the coordinates of the mobile robot at time t in the x-axis and y-axis, respectively,
shows the rate of change of p (t) at time t, v (t) ([ v:)x(t)；vy(t)]The linear velocity of the mobile robot at the time t is shown, a (t) shows the acceleration of the mobile robot at the time t, and the acceleration is also the control input required to be designed;
(2) enabling the mobile robot to start to track the expected contour line, and recording the current time as t;
(3) the mobile robot measures the field intensity of the mobile robot at the position p (t) at the moment t through a sensor (the type of the sensor is determined according to a signal to be detected) arranged on the mobile robot, and the expression is as follows:
s(t)＝F(p(t))，
where F (p (t)) represents the functional expression of the signal field, which represents a mapping from a two-dimensional vector to a one-dimensional scalar, i.e.:
(4) at time t, the control variable a (t) is obtained by the following control method:
where ω (t) ═ kpe(t)+kiσ(t)，
In the above controller, sdRepresenting the desired field strength, vd(t)＝v[cosθ(t)；sinθ(t)]Representing the desired velocity of the mobile robot at time t, v is the desired constant linear velocity, and, furthermore,
indicating the heading angle of the robot at time t, vx(t) and vy(t) linear velocities in x-axis and y-axis at time t of the mobile robot, respectively, kp>0 denotes a scale factor, ki>0 represents an integration coefficient; k is a radical of1>0，k2>0，k3>0 represents a control parameter to be designed (normally, a scaling factor k)pFar greater than the integral coefficient kiFurthermore k is1，k2And k3Needs to be determined according to the type of actual signal field),
representing the rate of change of the field strength s (t) at time t,
represents the change rate of the integral term sigma (t) at the time t, e (t) represents the tracking error, and tanh (DEG) represents a standard hyperbolic tangent function;
(5) applying the control variable a (t) obtained in the step (4) to the dynamic model of the mobile robot established in the step (1), and correspondingly moving the mobile robot to the t +1 moment;
(6) and (4) making t be t +1, and then returning to the step (4) again to realize the aim that the mobile robot has the expected field intensity sdIs performed.
The mobile robot and the sensor adopted by the method are all devices with conventional models; the method of the present invention can be implemented by programming by those skilled in the art.
The invention is further illustrated below with reference to a specific embodiment.
Simulation experiment
(1) Simulation setup
The desired constant linear velocity of the mobile robot was set to 0.5m/s and the sampling interval was set to 0.01 s. For convenience of presentation, we define q (t) ═ p (t); v (t) represents the state variable at time t of the mobile robot.
(2) Simulation result
A circular signal field is first selected to test the global stability of the control method. Without loss of generality, the signal source is set at the origin of coordinates and the signal field function is designed to be:
F(p(t))＝30exp(-0.1(x2(t)+y2(t)))，
where x (t) and y (t) represent the x-axis and y-axis coordinates of the robot at time t, respectively. Setting the desired field strength to s d20, the control parameters are designed as: k is a radical ofp＝10，ki＝1，k1＝0.3，k2＝1,k30.2. We select eight different initial states (q (0) is [ 10; 0; -0.1545; 0.4755)]，[0；10；-0.5；0]，[-10；0；0；0.5]，[0；-10；0.5；0]，[1；0；0.5；0]，[0；1；0；0.5]，[-1；0；-0.5；0]，[0；-1；0；-0.5]) The reliability of the control method was tested and the test results are shown in fig. 2. Fig. 2 is a schematic diagram of a moving track of a mobile robot in a circular signal field according to an embodiment of the present invention. The small square in fig. 2 represents the starting position of the mobile robot and the arrow represents the starting heading of the mobile robot. From the result canIt is seen that the desired field strength s is eventually reached, regardless of the initial state of the mobile robotdAnd continuously runs along the contour line corresponding to the field intensity as 20.
The initial state q (0) of the mobile robot is equal to [ 10; 0; -0.1545; 0.4755]For example, the tracking effect is analyzed, the change of the tracking error with time is shown in fig. 3, and the actual tracking error s (t) -s can be found from fig. 3dConverge to zero over time and there is no steady state error.
Next, we set the signal field to be in the scalar form:
the control parameters are designed as follows: k is a radical ofp＝10，ki＝0.5，k1＝0.1，k2＝1,k30.2. The results of the experiment are shown in FIG. 4. The squares in fig. 4 respectively indicate the start position of the mobile robot, and the arrows indicate the start heading of the mobile robot. The tracking error of the mobile robot is shown in fig. 5, and it can be seen from fig. 5 that the tracking error is less than 0.02.
The method can realize contour line tracking only by using the field intensity information as a feedback variable, and can ensure the global stability of the control method under the condition of not limiting the initial state of the mobile robot. In addition, the setting of the control parameters does not depend on the initial position of the mobile robot, the design method is simple, and the method is more suitable for engineering application.
Those skilled in the art will appreciate that the invention may be practiced without these specific details.
Claims (1)
1. A contour line tracking method based on field intensity information is characterized by comprising the following steps:
(1) establishing a dynamic model of the mobile robot under a plane coordinate system:
wherein p (t) ═ x (t); y (t)]Indicating the position of the mobile robot at time t, x (t) and y (t) indicating the coordinates of the mobile robot at time t in the x-axis and y-axis, respectively,
shows the rate of change of p (t) at time t, v (t) ([ v:)x(t)；vy(t)]Representing the linear velocity, v, of the mobile robot at time tx(t) and vy(t) linear velocities of the mobile robot on the x-axis and the y-axis at time t, respectively, and a (t) acceleration of the mobile robot at time t;
(2) enabling the mobile robot to start to track the expected contour line, and recording the current time as t;
(3) the mobile robot measures the field intensity of the mobile robot at a position p (t) at the moment t through a sensor installed on the mobile robot, and the expression is as follows:
s(t)＝F(p(t))，
wherein F (p (t)) represents a functional expression of the signal field;
(4) at time t, a (t) is obtained by the following control method:
where ω (t) ═ kpe(t)+kiσ(t)，
sdRepresenting the desired field strength, vd(t)＝v[cosθ(t)；sinθ(t)]Representing the desired velocity of the mobile robot at time t, v is the desired constant linear velocity,
indicating the heading angle of the robot at time t, vx(t) and vy(t) linear velocities in x-axis and y-axis at time t of the mobile robot, respectively, kp>0 denotes a scale factor, ki>0 represents an integration coefficient; k is a radical of1>0，k2>0，k3>0's respectively denote the control parameters of the control,
representing the rate of change of the field strength s (t) at time t,
represents the change rate of the integral term sigma (t) at the time t, e (t) represents the tracking error, and tanh (DEG) represents a standard hyperbolic tangent function;
(5) applying the a (t) obtained in the step (4) to the dynamic model of the mobile robot established in the step (1), and correspondingly moving the mobile robot to the t +1 moment;
(6) and (4) making t be t +1, and then returning to the step (4) again to realize that the mobile robot has the expected field intensity sdIs performed.
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