CN112256023B - Bezier curve-based airport border patrol robot local path planning method and system - Google Patents
Bezier curve-based airport border patrol robot local path planning method and system Download PDFInfo
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Abstract
The invention discloses a Bezier curve-based airport border patrol robot local path planning method and system, wherein the method comprises the following steps: acquiring a starting point position, a linear speed and a target point position of an airport border patrol robot in an obstacle avoidance process; detecting obstacle information by using a laser radar sensor carried by an airport border patrol robot, and drawing a secondary Bezier curve according to sensor measurement data; and establishing a discrete kinematics model of the airport border-patrolling robot, calculating control signals of linear velocity and angular velocity of the robot, and controlling the robot to linearly move from a starting point position to each target position on a quadratic Bezier curve by using the control signals until the target position is reached. The method comprehensively considers the influence of the direction of a target point and the position of a local obstacle, adjusts path planning parameters and optimizes the motion trail of the robot; and a quadratic Bezier curve algorithm is adopted, so that the speed planning is efficiently carried out, the real-time calculation is ensured, and the pose of the robot during movement is easily controlled.
Description
Technical Field
The invention belongs to the technical field of local path planning, and particularly relates to a Bezier curve-based airport border patrol robot local path planning method and system.
Background
With the continuous development of human society to intellectualization, intelligent robots are increasingly applied to various industries. For the field of mobile robots, path planning has been the focus of research. The local obstacle avoidance path planning refers to providing a task for the robot to reach a specific target point under the environment with obstacles in a local area.
The existing path algorithm for local obstacle avoidance comprises a circular expansion method, a fuzzy control method, an artificial potential field method, a vector field histogram method and the like. However, the above algorithm has certain defects, for example, the artificial potential field algorithm is easy to fall into the minimum value locally and cannot move to the end point; the fuzzy control method has relatively good real-time performance, but is easy to fall into U-shaped deadlock. Optimization research on an obstacle avoidance algorithm continues, for example, a combination of a pigeon swarm algorithm and the obstacle avoidance algorithm [ li frost, happy family, Aohai lea, Liu Yan bin ] A real-time obstacle avoidance algorithm based on the pigeon swarm optimization algorithm, Beijing university of aerospace, 2020-09-22:1-9 ] ]; and optimization of improvements to traditional manual potential field methods [ beware journey, liehain, shaojie, lifei, university of pilgrimage ] robot obstacle avoidance and path planning studies based on improved traditional manual potential field methods [ J ], university of olean, 2019,33(06):53-58 ]. Most optimization algorithms still suffer from poor real-time performance and poor optimization performance for multi-obstacle environments.
Disclosure of Invention
The invention aims to provide a Bezier curve-based airport border patrol robot local path planning method and system aiming at the problems in the prior art.
The technical solution for realizing the purpose of the invention is as follows: a Bezier curve-based airport border patrol robot local path planning method comprises the following steps:
step 1, acquiring a starting point position, a linear speed and a target point position in an obstacle avoidance process of an airport border patrol robot;
step 2, detecting obstacle information by using a laser radar sensor carried by an airport border patrol robot, and drawing a secondary Bezier curve according to sensor measurement data;
and 3, establishing a discrete kinematics model of the airport border-patrolling robot, calculating control signals of linear velocity and angular velocity of the robot, and controlling the robot to linearly move from the starting point position to each target position on the secondary Bezier curve by using the control signals until the target position in the step 1 is reached.
Further, in step 2, the laser radar sensor carried by the airport border patrol robot is used for detecting obstacle information, a secondary Bezier curve is drawn according to the measured data of the sensor, and the specific process comprises the following steps:
step 2-1, reading obstacle position and angle information returned by a laser radar sensor; the distance value between the robot and the obstacle is obstacle 1 ,obstacle 2 ,…,obstacle n ，obstacle i For the measured ith distance value, i is 1,2, …, n, n is the total number of data collected by all laser radar sensors, and the clockwise angle between the obstacle and the right front of the robot is theta 1 ,θ 2 ,…,θ n ，θ i Is obstacle i A corresponding included angle;
step 2-2, establishing a robot body coordinate system, wherein the right front of the robot is the positive direction of a y axis, and the right direction perpendicular to the y axis is the positive direction of an x axis;
step 2-3, supposing that the current position of the robot is P 0 (0,0) based on P 0 Determining P 1 、P 2 ：
Wherein P is 1 The coordinate in the robot body coordinate system is (0, thresh) which is located right in front of the robot, and the thresh is the effective measurement range of the laser radar sensor; p 2 The coordinates in the robot coordinate system are (d, thresh), d is P 2 The formula of calculation is:
d＝sum+F
in the formula, sum is the projection sum of the distance value returned by each laser radar sensor in the positive direction of the x axis of the machine body coordinate system:
f is an influence factor of the obstacle on the robot control with respect to the robot direction:
in the formula (I), the compound is shown in the specification,
direction angle, which is the influence factor of the obstacle target point relative to the robot direction:
step (ii) of2-4 from P 0 、P 1 、P 2 Constructing a quadratic Bezier curve, wherein the calculation formula of the curve is as follows:
B(t)＝(1-t) 2 P 0 +2t(1-t)P 1 +t 2 P 2 ,t∈[0,1]
the parametric equation of the quadratic bezier curve is:
in the formula, mid is the return value of the detection distance of the laser radar sensor along the positive direction of the y axis for the robot:
mid＝obastacl m
in the formula, if n is an even number,
if n is an odd number, then,
further, the step 3 of establishing a discrete kinematics model of the airport border patrol robot, calculating control signals of linear velocity and angular velocity of the robot, and controlling the robot to move linearly from the starting point position to each target position on the quadratic bezier curve according to the control signals until the target point position in the step 1 is reached specifically includes:
step 3-1, establishing a discrete kinematic model of the robot, wherein the model is represented by t 0 The time interval calculates the linear velocity v and the angular velocity ω for each advance:
in the formula, kt 0 Representing the k-th time interval, the model indicates that the robot angular velocity variation is instantaneous and the linear velocity is constant v, v k Represents kt 0 Linear velocity of time, ω k Represents kt 0 Angular velocity of the moment;
step 3-2, setting the robot at kt 0 Linear velocity at time v k If the target position that the robot needs to reach in the kth time interval is B (t) k ) The distance that the robot advances in the kth time interval is v k t 0 On the quadratic bezier curve drawn in step 2, B (t) satisfying the following condition is found by exhaustion k )：
|P 0 B(t k )|＝v k t 0
The angle of the direction of the robot needing to be changed at the moment k is less than P 1 P 0 B(t k )；
The moving vector of the robot at the moment k is ([ phi ] P) 1 P 0 B(t k ),|P 0 B(t k )|)；
The control signals of the linear velocity and the angular velocity of the robot at the moment k are obtained as follows:
and 3-3, controlling the robot to linearly move from the starting point position to each target position on the quadratic Bezier curve by the control signal until the target position in the step 1 is reached.
Airport border robot local path planning system based on Bezier curve, the system includes:
the data acquisition module is used for acquiring the position of a starting point, the linear speed and the position of a target point in the obstacle avoidance process of the airport border patrol robot;
the Bezier curve drawing module is used for detecting barrier information by using a laser radar sensor carried by an airport border patrol robot and drawing a secondary Bezier curve according to sensor measurement data;
and the motion control module is used for establishing a discrete kinematics model of the airport border-patrolling robot, calculating control signals of linear velocity and angular velocity of the robot, and controlling the robot to linearly move from the starting point position to each target position on the secondary Bezier curve by the signals until the target position obtained by the data acquisition module is reached.
Compared with the prior art, the invention has the remarkable advantages that: 1) comprehensively considering the influence of the direction of a target point and the position of a local obstacle, adjusting path planning parameters and optimizing the movement track of the wheeled airport border-patrolling robot; 2) the pose of the robot during movement is easy to control by adopting a quadratic Bezier curve algorithm; 3) the speed planning can be efficiently carried out, and the real-time calculation is ensured.
The present invention is described in further detail below with reference to the attached drawing figures.
Drawings
Fig. 1 is a flowchart of a method for planning a local path of an airport border robot based on a bezier curve in an embodiment.
FIG. 2 is a schematic diagram of a coordinate system of a robot according to an embodiment.
Fig. 3 is a schematic diagram of a quadratic bezier curve calculated in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
It should be noted that, if directional indications (such as up, down, left, right, front, and back … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indications are changed accordingly.
In one embodiment, in combination with fig. 1, there is provided a method for planning local paths of airport border robots based on bezier curves, the method including the following steps:
step 1, acquiring a starting point position, a linear speed and a target point position in an obstacle avoidance process of an airport border patrol robot;
step 2, detecting obstacle information by using a laser radar sensor carried by the airport border-patrol robot, and drawing a secondary Bezier curve according to the measured data of the sensor;
and 3, establishing a discrete kinematics model of the airport border-patrolling robot, calculating control signals of linear velocity and angular velocity of the robot, and controlling the robot to linearly move from the starting point position to each target position on the secondary Bezier curve by using the control signals until the target position in the step 1 is reached.
Further, in one embodiment, in step 2, the detecting of the obstacle information by using the lidar sensor carried by the airport border patrol robot, and the drawing of the secondary bezier curve according to the sensor measurement data include:
step 2-1, reading obstacle position and angle information returned by a laser radar sensor; the distance value between the robot and the obstacle is obstacle 1 ,obstacle 2 ,…,obstacle n ，obstacle i For the measured ith distance value, i is 1,2, …, n, n is the total number of data collected by all laser radar sensors, and the clockwise angle between the obstacle and the right front of the robot is theta 1 ,θ 2 ,…,θ n ，θ i Is obstacle i A corresponding included angle; (for example, if the robot carries a lidar with a laser scanning interval of 1.5 degrees, 120 data in a range of 180 degrees and an effective measurement range of thresh, 120 obstacles can be measured);
step 2-2, establishing a robot body coordinate system as shown in fig. 2, wherein the right front of the robot is the positive direction of the y axis, and the right direction perpendicular to the y axis is the positive direction of the x axis;
step 2-3, supposing that the current position of the robot is P 0 (0,0) based on P 0 Determining P 1 、P 2 ：
Wherein P is 1 The coordinate in the robot body coordinate system is (0, thresh) which is located right in front of the robot, and the thresh is the effective measurement range of the laser radar sensor; p 2 The coordinates in the robot coordinate system are (d, thresh), d is P 2 The formula of calculation is:
d＝sum+F
in the formula, sum is the projection sum of the distance value returned by each laser radar sensor in the positive direction of the x axis of the machine body coordinate system:
f is the influence factor of the obstacle on the robot control with respect to the robot direction:
in the formula (I), the compound is shown in the specification,
the direction angle is the influence factor of the obstacle target point relative to the robot direction:
step 2-4, from P 0 、P 1 、P 2 A quadratic bezier curve is constructed as shown in fig. 3, and the calculation formula of the curve is:
B(t)＝(1-t) 2 P 0 +2t(1-t)P 1 +t 2 P 2 ,t∈[0,1]
the parametric equation of the quadratic bezier curve is:
in the formula, mid is the return value of the detection distance of the laser radar sensor along the positive direction of the y axis for the robot:
mid＝obastacl m
in the formula, if n is an even number,
if n is an odd number, the number of the bits is,
further, in one embodiment, the establishing a discrete kinematic model of the airport patrol robot in step 3, calculating control signals of linear velocity and angular velocity of the robot, and controlling the robot to move linearly from the starting point position to each target position on the quadratic bezier curve with the control signals until the target point position in step 1 is reached specifically includes:
step 3-1, establishing a discrete kinematic model of the robot, wherein the model is represented by t 0 The time interval calculates the linear velocity v and the angular velocity ω for each advance:
in the formula, kt 0 Representing the k-th time interval, the model indicates that the robot angular velocity variation is instantaneous and the linear velocity is constant v, v k Representing kt 0 Linear velocity at time, ω k Represents kt 0 Angular velocity of the moment;
step 3-2, setting the robot at kt 0 Linear velocity at time v k If the target position that the robot needs to reach in the kth time interval is B (t) k ) The distance that the robot advances in the kth time interval is v k t 0 On the quadratic bezier curve drawn in step 2, B (t) satisfying the following condition is found by exhaustion k )：
|P 0 B(t k )|＝v k t 0
The angle of the robot needing to change the direction at the moment k is ° P 1 P 0 B(t k )；
The moving vector of the robot at the moment k is ([ phi ] P) 1 P 0 B(t k ),|P 0 B(t k )|)；
The control signals of the linear velocity and the angular velocity of the robot at the moment k are obtained as follows:
and 3-3, controlling the robot to linearly move from the starting point position to each target position on the quadratic Bezier curve by the control signal until the target position in the step 1 is reached.
In one embodiment, a Bezier curve-based airport border robot local path planning system, the system comprising:
the data acquisition module is used for acquiring the position of a starting point, the linear speed and the position of a target point in the obstacle avoidance process of the airport border patrol robot;
the Bezier curve drawing module is used for detecting obstacle information by using a laser radar sensor carried by an airport border patrol robot and drawing a secondary Bezier curve according to sensor measurement data;
and the motion control module is used for establishing a discrete kinematics model of the airport border-patrolling robot, calculating control signals of linear velocity and angular velocity of the robot, and controlling the robot to linearly move from the starting point position to each target position on the secondary Bezier curve by the signals until the target position obtained by the data acquisition module is reached.
Further, in one embodiment, the bezier curve plotting module includes:
the data reading unit is used for reading the position and angle information of the obstacle returned by the laser radar sensor; the distance value between the robot and the obstacle is obstacle 1 ,obstacle 2 ,…,obstacle n ，obstacle i For the ith distance value, i is 1,2, …, n is the total number of data collected by all laser radar sensors, and the clockwise angle between the obstacle and the right front of the robot is theta 1 ,θ 2 ,…,θ n ，θ i Is obstacle i A corresponding included angle;
the coordinate system building unit is used for building a robot coordinate system, wherein the right front of the robot is the positive direction of a y axis, and the right direction vertical to the y axis is the positive direction of an x axis;
the three-point determining unit is used for determining three points for constructing a quadratic Bezier curve; suppose the current position of the robot is P 0 (0,0) based on P 0 Determining P 1 、P 2 ：
Wherein P is 1 The coordinate in the robot body coordinate system is (0, thresh) which is located right in front of the robot, and the thresh is the effective measurement range of the laser radar sensor; p 2 The coordinates in the robot coordinate system are (d, thresh), d is P 2 The formula of calculation is:
d＝sum+F
in the formula, sum is the projection sum of the distance value returned by each laser radar sensor in the positive direction of the x axis of the machine body coordinate system:
f is an influence factor of the obstacle on the robot control with respect to the robot direction:
in the formula (I), the compound is shown in the specification,
the direction angle is the influence factor of the obstacle target point relative to the robot direction:
a quadratic Bezier curve constructing unit for constructing a quadratic Bezier curve from P 0 、P 1 、P 2 Constructing a quadratic Bezier curve, wherein the calculation formula of the curve is as follows:
B(t)＝(1-t) 2 P 0 +2t(1-t)P 1 +t 2 P 2 ,t∈[0,1]
the parametric equation of the quadratic bezier curve is:
in the formula, mid is the return value of the detection distance of the laser radar sensor along the positive direction of the y axis for the robot:
mid＝obastacl m
in the formula, if n is an even number,
if n is an odd number, then,
further, in one embodiment, the motion control module comprises:
a kinematic model building unit for building a discrete kinematic model of the robot, the model having t 0 The time interval calculates the linear velocity v and the angular velocity ω for each advance:
in the formula, kt 0 Representing the kth time interval, the model indicates that the robot angular velocity variation is instantaneous and the linear velocity is constant v, v k Represents kt 0 Linear velocity of time, ω k Represents kt 0 Angular velocity of the moment;
a target position point acquisition unit for acquiring a target position point on the quadratic Bezier curve;
let the robot at kt 0 Linear velocity at time v k If the target position that the robot needs to reach in the kth time interval is B (t) k ) The distance that the robot advances in the kth time interval is v k t 0 On the quadratic bezier curve drawn in step 2, B (t) satisfying the following condition is found by exhaustion k )：
|P 0 B(t k )|＝v k t 0
The angle of the direction of the robot needing to be changed at the moment k is less than P 1 P 0 B(t k )；
The moving vector of the robot at the moment k is ([ phi ] P) 1 P 0 B(t k ),|P 0 B(t k )|)；
The control signals of the linear velocity and the angular velocity of the robot at the moment k are obtained as follows:
and the motion control unit is used for controlling the robot to linearly move from the starting point position to each target position on the secondary Bezier curve by the control signal until the target position of the data acquisition module is reached.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (2)
1. A Bezier curve-based airport border patrol robot local path planning method is characterized by comprising the following steps:
step 1, acquiring a starting point position, a linear speed and a target point position in an obstacle avoidance process of an airport border patrol robot;
step 2, detecting obstacle information by using a laser radar sensor carried by an airport border patrol robot, and drawing a secondary Bezier curve according to sensor measurement data; the specific process comprises the following steps:
step 2-1, reading the barrier returned by the laser radar sensorPosition and angle information; the distance value between the robot and the obstacle is obstacle 1 ,obstacle 2 ,…,obstacle n ，obstacle i For the measured ith distance value, i is 1,2, …, n, n is the total number of data collected by all laser radar sensors, and the clockwise angle between the obstacle and the right front of the robot is theta 1 ,θ 2 ,…,θ n ，θ i Is obstacle i A corresponding included angle;
step 2-2, establishing a robot body coordinate system, wherein the right front of the robot is the positive direction of a y axis, and the right direction perpendicular to the y axis is the positive direction of an x axis;
step 2-3, supposing that the current position of the robot is P 0 (0,0) based on P 0 Determining P 1 、P 2 ：
Wherein P is 1 The coordinate in the robot body coordinate system is (0, thresh) which is located right in front of the robot, and the thresh is the effective measurement range of the laser radar sensor; p 2 The coordinates in the robot coordinate system are (d, thresh), d is P 2 The formula of calculation is:
d＝sum+F
in the formula, sum is the projection sum of the distance value returned by each laser radar sensor in the positive direction of the x axis of the machine body coordinate system:
f is an influence factor of the obstacle on the robot control with respect to the robot direction:
in the formula (I), the compound is shown in the specification,
direction angle, which is the influence factor of the obstacle target point relative to the robot direction:
step 2-4, from P 0 、P 1 、P 2 Constructing a quadratic Bezier curve, wherein the calculation formula of the curve is as follows:
B(t)＝(1-t) 2 P 0 +2t(1-t)P 1 +t 2 P 2 ,t∈[0,1]
the parametric equation of the quadratic bezier curve is:
in the formula, mid is the return value of the detection distance of the laser radar sensor along the positive direction of the y axis for the robot:
mid＝obastacl m
in the formula, if n is an even number,
if n is an odd number, then,
step 3, establishing a discrete kinematics model of the airport border-patrolling robot, calculating control signals of linear velocity and angular velocity of the robot, and controlling the robot to move linearly from the starting point position to each target position on the quadratic Bezier curve by the signals until the target position in the step 1 is reached; the method specifically comprises the following steps:
step 3-1, establishing a discrete kinematic model of the robot, wherein the model is represented by t 0 The time interval calculates the linear velocity v and the angular velocity ω for each advance:
in the formula, kt 0 To representAt the k-th time interval, the model indicates that the robot angular velocity variation is instantaneous and the linear velocity is constant v, v k Representing kt 0 Linear velocity at time, ω k Represents kt 0 Angular velocity of the moment;
step 3-2, setting the robot at kt 0 Linear velocity at time v k And if the target position which the robot needs to reach in the kth time interval is B (t) k ) The distance that the robot advances in the kth time interval is v k t 0 On the quadratic bezier curve drawn in step 2, B (t) satisfying the following condition is found by exhaustion k )：
|P 0 B(t k )|＝v k t 0
The angle of the direction of the robot needing to be changed at the moment k is less than P 1 P 0 B(t k )；
The moving vector of the robot at the moment k is ([ phi ] P) 1 P 0 B(t k ),|P 0 B(t k )|)；
The control signals of the linear velocity and the angular velocity of the robot at the moment k are obtained as follows:
and 3-3, controlling the robot to linearly move from the starting point position to each target position on the quadratic Bezier curve by the control signal until the target position in the step 1 is reached.
2. Airport border robot local path planning system based on Bezier curve, its characterized in that, the system includes:
the data acquisition module is used for acquiring the position of a starting point, the linear speed and the position of a target point in the obstacle avoidance process of the airport border patrol robot;
the Bezier curve drawing module is used for detecting barrier information by using a laser radar sensor carried by an airport border patrol robot and drawing a secondary Bezier curve according to sensor measurement data; the method comprises the following steps:
the data reading unit is used for reading the position and angle information of the obstacle returned by the laser radar sensor; the distance value between the robot and the obstacle is obstacle 1 ,obstacle 2 ,…,obstacle n ，obstacle i For the measured ith distance value, i is 1,2, …, n, n is the total number of data collected by all laser radar sensors, and the clockwise angle between the obstacle and the right front of the robot is theta 1 ,θ 2 ,…,θ n ，θ i Is obstacle i A corresponding included angle;
the coordinate system building unit is used for building a robot coordinate system, wherein the right front of the robot is the positive direction of a y axis, and the right direction vertical to the y axis is the positive direction of an x axis;
the three-point determining unit is used for determining three points for constructing a quadratic Bezier curve; suppose the current position of the robot is P 0 (0,0) based on P 0 Determining P 1 、P 2 ：
Wherein P is 1 The coordinate in the robot body coordinate system is (0, thresh) which is located right in front of the robot, and the thresh is the effective measurement range of the laser radar sensor; p is 2 The coordinates in the robot coordinate system are (d, thresh), d is P 2 The formula of calculation is:
d＝sum+F
in the formula, sum is the projection sum of the distance value returned by each laser radar sensor in the positive direction of the x axis of the machine body coordinate system:
f is an influence factor of the obstacle on the robot control with respect to the robot direction:
in the formula (I), the compound is shown in the specification,
the direction angle is the influence factor of the obstacle target point relative to the robot direction:
a quadratic Bezier curve constructing unit for constructing a quadratic Bezier curve from P 0 、P 1 、P 2 Constructing a quadratic Bezier curve, wherein the calculation formula of the curve is as follows:
B(t)＝(1-t) 2 P 0 +2t(1-t)P 1 +t 2 P 2 ,t∈[0,1]
the parametric equation of the quadratic bezier curve is:
in the formula, mid is the return value of the detection distance of the laser radar sensor along the positive direction of the y axis for the robot:
mid＝obastacl m
in the formula, if n is an even number,
if n is an odd number, then,
the motion control module is used for establishing a discrete kinematics model of the airport border-patrol robot, calculating control signals of linear velocity and angular velocity of the robot, and controlling the robot to move linearly from the starting point position to each target position on the secondary Bezier curve according to the control signals until the target point position obtained by the data acquisition module is reached; the method comprises the following steps:
a kinematic model building unit for building a discrete kinematic model of the robot, the model having t 0 The time interval calculates the linear velocity v andangular velocity ω:
in the formula, kt 0 Representing the kth time interval, the model indicates that the robot angular velocity variation is instantaneous and the linear velocity is constant v, v k Representing kt 0 Linear velocity of time, ω k Represents kt 0 Angular velocity of the moment;
a target position point acquisition unit for acquiring a target position point on the quadratic Bezier curve;
let the robot at kt 0 Linear velocity at time v k And if the target position which the robot needs to reach in the kth time interval is B (t) k ) The distance that the robot advances in the kth time interval is v k t 0 On the quadratic bezier curve drawn in step 2, B (t) satisfying the following condition is found by exhaustion k )：
|P 0 B(t k )|＝v k t 0
The angle of the direction of the robot needing to be changed at the moment k is less than P 1 P 0 B(t k )；
The moving vector of the robot at the moment k is ([ phi ] P) 1 P 0 B(t k ),|P 0 B(t k )|)；
The control signals of the linear velocity and the angular velocity of the robot at the moment k are obtained as follows:
and the motion control unit is used for controlling the robot to linearly move from the starting point position to each target position on the secondary Bezier curve by using the control signal until the robot reaches the target point position acquired by the data acquisition module.
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| CN112597429B (en) * | 2021-03-04 | 2021-05-25 | 中国科学院自动化研究所 | Scanning mode trajectory planning method and system in motion of large-caliber radio telescope |
| CN113050652B (en) * | 2021-03-25 | 2022-08-23 | 上海海事大学 | Trajectory planning method for automatic berthing of intelligent ship |
| CN113138598A (en) * | 2021-03-31 | 2021-07-20 | 深圳市优必选科技股份有限公司 | Control method of intelligent trolley and intelligent trolley |
| CN113442140B (en) * | 2021-06-30 | 2022-05-24 | 同济人工智能研究院(苏州)有限公司 | Cartesian space obstacle avoidance planning method based on Bezier optimization |
| CN115993815A (en) * | 2021-10-18 | 2023-04-21 | 灵动科技（北京）有限公司 | Motion control method for mobile robot and computer program product |
| CN113655813B (en) * | 2021-10-20 | 2022-01-25 | 北京微纳星空科技有限公司 | Flight deviation correction control method and system, storage medium and electronic equipment |
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