CN113778072A - Mobile robot control method, mobile robot control device, storage medium, and mobile robot - Google Patents
Mobile robot control method, mobile robot control device, storage medium, and mobile robot Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
Abstract
The method of the embodiment of the invention determines a target speed and a target corner speed from a current position to a pre-aiming point according to the maximum centripetal acceleration of the mobile robot after the pre-aiming point is determined, controls the running of the mobile robot according to the target speed and the target corner speed, can automatically determine a transverse control quantity and a longitudinal control quantity, does not need an upstream planning module to calculate the speeds of all position points on a planned path, only needs the upstream planning module to provide the planned path, can improve the efficiency of the planning module, and can save resources.
Description
Technical Field
The embodiment of the invention relates to the technical field of warehouse logistics, in particular to a mobile robot control method and device, a storage medium and a mobile robot.
Background
In the field of automatic driving, the driving of a mobile robot under various scenes is controlled through a control algorithm. A pure tracking (PP) control algorithm is a common control algorithm in the field of automatic driving.
In the process of implementing the invention, the inventor finds that at least the following problems exist in the prior art: the PP control algorithm only calculates the lateral control quantity (i.e. the rotational angular velocity) and does not calculate the longitudinal control quantity (i.e. the velocity), and the planning module is required to plan and acquire the planned path and the velocity of each position point on the planned path in advance, so that a large amount of resources are occupied and the resources are wasted.
Disclosure of Invention
The embodiment of the invention provides a control method and device of a mobile robot, a storage medium and the mobile robot, which are used for solving the problem that the current PP control algorithm causes resource waste.
In one aspect, an embodiment of the present invention provides a method for controlling a mobile robot, including:
determining a pre-aiming point according to the planned path;
determining a target speed and a target rotation angular speed from the current position to the pre-aiming point according to the maximum centripetal acceleration of the mobile robot;
and controlling the mobile robot to run along the planned path according to the target speed and the target turning speed.
In another aspect, an embodiment of the present invention provides a control apparatus for a mobile robot, including:
the preview point determining module is used for determining a preview point according to the planned path;
the data processing module is used for determining a target speed and a target corner speed from the current position to the pre-aiming point according to the maximum centripetal acceleration of the mobile robot;
and the control execution module is used for controlling the mobile robot to run along the planned path according to the target speed and the target turning speed.
In another aspect, an embodiment of the present invention provides a mobile robot, including:
a processor, a memory, and a computer program stored on the memory and executable on the processor;
wherein the processor implements the method for controlling a mobile robot described above when running the computer program.
In another aspect, an embodiment of the present invention provides a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the computer program implements the method for controlling a mobile robot described above.
According to the control method, the control device, the storage medium and the mobile robot of the mobile robot, after the pre-aiming point is determined, the target speed and the target rotational speed from the current position to the pre-aiming point are determined according to the maximum centripetal acceleration of the mobile robot, and the mobile robot is controlled to run according to the target speed and the target rotational speed from the current position to the pre-aiming point, so that the transverse control quantity and the longitudinal control quantity can be automatically determined, an upstream planning module is not needed to calculate the speeds of all position points on a planned path, the upstream planning module only provides the planned path, and resources can be saved.
Drawings
Fig. 1 is a block diagram of a control method of a mobile robot according to an embodiment of the present invention;
fig. 2 is a flowchart of a control method of a mobile robot according to an embodiment of the present invention;
fig. 3 is a flowchart of a control method of a mobile robot according to a second embodiment of the present invention;
fig. 4 is a schematic diagram of a distance, a lateral error, and a curvature between a current position on a planned path and a pre-aiming point according to a second embodiment of the present invention;
fig. 5 is a schematic structural diagram of a control device of a mobile robot according to a third embodiment of the present invention;
fig. 6 is a schematic structural diagram of a control device of a mobile robot according to a fourth embodiment of the present invention;
fig. 7 is a schematic structural diagram of a mobile robot according to a fifth embodiment of the present invention.
With the above figures, certain embodiments of the invention have been illustrated and described in more detail below. The drawings and the description are not intended to limit the scope of the inventive concept in any way, but rather to illustrate it by those skilled in the art with reference to specific embodiments.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the invention, as detailed in the appended claims.
The terms "first", "second", etc. referred to in the embodiments of the present invention are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. In the description of the following examples, "plurality" means two or more unless specifically limited otherwise.
At present, the commonly used Control algorithms in the field of automatic driving include a Proportional-Integral-Derivative (PID) Control algorithm, a Model Predictive Control algorithm (MPC) and a PP Control algorithm.
The PID control algorithm needs to adjust different parameters in different control scenarios (such as turning, straight running, low speed, high speed, ascending, descending, loading weight, etc.), and the process of adjusting the parameters is very complex and inefficient. The model prediction control algorithm needs a large number of parameters of the mobile robot to construct a mathematical model of the mobile robot, but part of the parameters are not easy to obtain, and the usability is low.
Compared with a PID control algorithm and a model predictive control algorithm, the PP control algorithm is a control algorithm which is simpler and easier to realize, and is widely applied to low-speed scenes such as indoor distribution robots, storage robots and the like.
However, the PP control algorithm only calculates the lateral control quantity (i.e. the rotational angular velocity), but does not calculate the longitudinal control quantity, and it is necessary to plan and acquire the speed of each position point on the planned path and the planned path in advance from the planning module, and the planning of the speeds of a large number of position points occupies a large amount of resources, which causes waste of resources.
The control method of the mobile robot provided by the embodiment of the invention aims to solve the technical problems in the prior art, and can be particularly applied to a control device (or called control module) of the mobile robot, wherein the mobile robot can be a mobile robot in low-speed scenes such as an indoor distribution robot, a warehousing robot, a mapping robot in a parking lot and the like. The mobile robot may be in the form of a vehicle.
A general flow framework of the CONTROL method of the mobile robot according to the embodiment of the present invention is shown in fig. 1, where a CONTROL (CONTROL) device acquires a planned path (path) from an upstream PLANNING (PLANNING) module, determines a pre-aiming point according to the planned path, automatically calculates a target speed and a target turning speed, sends the target speed and the target turning speed to a CHASSIS (chasss) module, and CONTROLs the mobile robot to travel according to the target speed and the target turning speed by the CHASSIS module.
The following describes the technical solutions of the present invention and how to solve the above technical problems with specific embodiments. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present invention will be described below with reference to the accompanying drawings.
Example one
Fig. 2 is a flowchart of a control method of a mobile robot according to an embodiment of the present invention. As shown in fig. 2, the method comprises the following specific steps:
and S101, determining a preview point according to the planned path.
In this embodiment, in the process of automatic driving of the mobile robot, each time the mobile robot is controlled, a preview point is first determined according to the current planned path.
The process of determining the preview point may be implemented by any method capable of determining the preview point in the automatic driving process in the prior art, and this embodiment is not specifically limited herein.
For example, a target position point is determined on the planned path, and a preview point which is away from the target position point by a preview distance is determined on the planned path; or the remote server determines a pre-aiming point with the road traffic attribute and issues the pre-aiming point to the mobile robot, wherein the pre-aiming point with the road traffic attribute can be a point which is most intensively passed by manual driving or other key position points on a road; or, a preview point is extracted from the historical driving trajectory by clustering, and so on.
And S102, determining a target speed and a target rotation angular speed from the current position to the pre-aiming point according to the maximum centripetal acceleration of the mobile robot.
In the embodiment, according to the current position, the position of the currently selected preview point and the maximum centripetal acceleration of the mobile robot, the target speed from the current position to the preview point is automatically calculated, the target rotation angular speed can be further calculated, the speeds of all position points on a planned path do not need to be calculated by an upstream planning module, and the upstream planning module only provides the planned path, so that the efficiency of the planning module can be improved; the maximum centripetal acceleration is an inherent attribute of the mobile robot and can be easily acquired, and after the sighting point is determined each time, the target speed and the target rotation angle speed from the current position to the sighting point can be calculated in real time based on the maximum centripetal acceleration. In addition, the maximum centripetal acceleration is an inherent attribute of the mobile robot and is easy to obtain, and after the preview point is determined each time, the target speed and the target rotation angular speed from the current position to the preview point can be calculated in real time based on the maximum centripetal acceleration, so that the running of the mobile robot can be controlled in real time, and the timeliness of the control of the mobile robot is improved.
And S103, controlling the mobile robot to run along the planned path according to the target speed and the target turning speed.
After the target speed and the target turning speed from the current position to the preview point are determined, the mobile robot is controlled according to the target speed and the target turning speed, so that the mobile robot runs at the target speed and the target turning speed.
Illustratively, after determining the target speed and the target angular velocity from the current position to the preview point, the target speed and the target angular velocity from the current position to the preview point are transmitted to the chassis module, so that the chassis module controls the traveling of the mobile robot according to the target speed and the target angular velocity until the next adjustment of the target speed and the target angular velocity.
Illustratively, after determining a target speed and a target turning speed from the current position to the preview point, a control command containing the target speed is sent to a speed control device of the mobile robot according to the target speed, and the speed control device is controlled to adjust the traveling speed of the mobile robot according to the target speed, so that the mobile robot travels at the target speed. And sending a control command containing the target turning speed to a steering device of the mobile robot according to the target turning speed, and controlling the steering device (such as a steering wheel) to adjust the steering angle of the steering device according to the target turning speed so as to control the running direction of the mobile robot, so that the mobile robot runs along the planned path.
For example, after determining the target speed and the target angular velocity from the current position to the preview point, the determined target angular velocity may be used as the rotation angle of the steering wheel, and the throttle control amount or the brake control amount may be determined according to the target speed. Then, the rotation angle of the steering wheel and the accelerator control amount or the brake control amount may be transmitted to an actuator through a CAN (Controller Area Network) bus, the actuator rotates the steering wheel based on the rotation angle of the steering wheel, and the accelerator opening degree is adjusted based on the accelerator control amount or the brake opening degree is adjusted based on the brake control amount, thereby controlling the autonomous vehicle to travel.
According to the embodiment of the invention, after the preview point is determined, the target speed and the target rotation angular speed from the current position to the preview point are determined according to the maximum centripetal acceleration of the mobile robot, and the mobile robot is controlled to run according to the target speed and the target rotation angular speed from the current position to the preview point, so that the transverse control quantity and the longitudinal control quantity can be automatically determined, an upstream planning module is not required to calculate the speeds of all position points on a planned path, the upstream planning module only provides the planned path, and the resources are saved.
Example two
Fig. 3 is a flowchart of a control method of a mobile robot according to a second embodiment of the present invention; fig. 4 is a schematic diagram of a relationship between a distance, a lateral error, and a curvature between a current position on a planned path and a preview point according to a second embodiment of the present invention. On the basis of the first embodiment, in the present embodiment, a lateral error from the current position to the preview point is determined according to the current orientation and the current position of the mobile robot and the position of the preview point; determining the curvature from the current position to the preview point according to the transverse error and the distance from the current position to the preview point; and determining the target speed according to the curvature and the maximum centripetal acceleration. And determining the target corner speed according to the curvature and the target speed.
As shown in fig. 3, the method comprises the following specific steps:
step S201, obtaining a planning path from a planning module.
In this embodiment, the control device of the mobile robot acquires a planned path from an upstream planning module.
The planning module has a path planning function, and can be realized by adopting a path planning module in the planning module depending on the PP control algorithm.
In another implementation manner of this embodiment, the planned path may also be obtained from other devices such as a remote server capable of providing the planned path, which is not specifically limited herein.
And S202, determining a pre-aiming point on the planned path according to the current position and the pre-aiming distance at intervals according to the control frequency.
In practical applications, a control device for a mobile robot controls the travel of the mobile robot at a certain control frequency. The control frequency may be configured and adjusted according to an actual application scenario of the mobile robot, and this embodiment is not specifically limited herein.
In this embodiment, according to the control frequency of the mobile robot, a preview point on the planned path is determined at intervals, then a target speed and a target rotation angle speed from the current position to the preview point are determined, and the mobile robot is controlled to travel along the planned path according to the target speed and the target rotation angle speed.
In this step, a position point on the planned path where the driving distance between the front and the current position is equal to the pre-aiming distance may be determined as the pre-aiming point.
Alternatively, the current preview distance may be determined according to the position of the preview point and the driving state of the vehicle (such as the current vehicle speed and the like); alternatively, the pre-aim distance may be determined based on the curvature of the forward path; or, the pre-aiming distance can be determined according to the current vehicle speed and the curvature of the planned path; alternatively, a fixed pre-aiming distance may be set according to a specific driving field (e.g., indoor) of the mobile robot; or the preview distance may also be set in other manners, and this embodiment is not limited in this embodiment.
And step S203, determining the curvature from the current position to the preview point.
In an alternative embodiment, the transverse error from the current position to the pre-aiming point is determined according to the current orientation and the current position of the mobile robot and the position of the pre-aiming point; and determining the curvature from the current position to the preview point according to the transverse error and the distance from the current position to the preview point.
Specifically, according to the current orientation, the current position, and the position of the pre-aiming point of the mobile robot, the following formula one is adopted to determine the lateral error from the current position to the pre-aiming point:
e＝Δy*cos(carheading)-Δx*sin(carheading) Formula one
Where e represents the lateral error from the current position to the preview point (e shown in fig. 4), carheadingThe current orientation angle of the mobile robot is shown by (car)x，cary) Coordinates indicating the current position of the mobile robot, and position coordinates of the home pointing point are indicated by (p.x, p.y), and Δ x is p.x-carx，Δy＝p.y-cary。
Further, the curvature from the current position to the preview point can be determined according to the lateral error from the current position to the preview point and the distance from the current position to the preview point by using the following formula two:
where k denotes the curvature from the current position to the home point, e denotes the lateral error from the current position to the home point, d denotes the distance from the current position to the home point (d as shown in figure 4),
in addition, in other embodiments of this embodiment, a sampling point may be extracted from a path between the current position and the preview point, and the curvature may be determined according to an arc formed by the current position, the sampling point, and the preview point; or may be implemented by any other method capable of determining the curvature of a certain path (or road), and this embodiment is not limited in this respect.
And S204, determining the target speed from the current position to the preview point according to the curvature and the maximum centripetal acceleration from the current position to the preview point.
In this embodiment, before determining the target speed, the maximum centripetal acceleration of the mobile robot needs to be obtained.
In the step, the following formula III is adopted, and the target speed from the current position to the pre-aiming point is determined according to the curvature from the current position to the pre-aiming point and the maximum centripetal acceleration of the mobile robot:
where v denotes a target speed from the current position to the home point, k denotes a curvature from the current position to the home point (1/k is a radius corresponding to the curvature k shown in fig. 4), and max _ central _ average denotes a maximum centripetal acceleration of the mobile robot.
In the embodiment, the curvature from the current position to the pre-aiming point can be determined according to the current orientation and the current position of the mobile robot and the position of the pre-aiming point, and further, the target speed from the current position to the pre-aiming point can be rapidly determined according to the curvature from the current position to the pre-aiming point and the maximum centripetal acceleration of the mobile robot, the speed of each position point on a planned path does not need to be planned in advance, and the efficiency is improved.
And S205, determining a target rotation angular speed from the current position to the preview point according to the curvature from the current position to the preview point and the target speed.
In this embodiment, after determining the curvature from the current position to the preview point and the target speed from the current position to the preview point, the target rotational angular speed from the current position to the preview point may be determined by using the following formula four:
ω ═ v × k equation four
Where ω denotes a target rotational angular velocity from the current position to the preview point, v denotes a target velocity from the current position to the preview point, and k denotes a curvature from the current position to the preview point.
And S206, sending the target speed and the target angular speed from the current position to the preview point to the chassis module, and controlling the chassis module to control the mobile robot to run according to the target speed and the target angular speed.
After the target speed and the target corner speed from the current position to the preview point are determined, the target speed and the target corner speed from the current position to the preview point are sent to the chassis module, so that the chassis module controls the mobile robot to run according to the target speed and the target corner speed until the target speed and the target corner speed are adjusted next time.
According to the embodiment of the invention, the transverse error from the current position to the pre-aiming point is determined according to the current orientation and the current position of the mobile robot and the position of the pre-aiming point; according to the transverse error and the distance between the current position and the pre-aiming point, the curvature from the current position to the pre-aiming point is determined, and according to the curvature from the current position to the pre-aiming point and the maximum centripetal acceleration, the target speed from the current position to the pre-aiming point is determined, the speed of each position point on a planned path does not need to be planned in advance, and the target speed can be determined quickly; then, according to the curvature and the target speed from the current position to the pre-aiming point, the target corner speed from the current position to the pre-aiming point is determined, the running of the mobile robot is controlled according to the target speed and the target corner speed from the current position to the pre-aiming point, the transverse control quantity and the longitudinal control quantity can be automatically determined, the speed of all position points on a planned path does not need to be calculated by an upstream planning module, the upstream planning module only provides the planned path, and resources are saved; the efficiency of the planning module is improved; and the maximum centripetal acceleration is the inherent attribute of the mobile robot and is easy to obtain, and after the preview point is determined each time, the target speed and the target rotation angular speed from the current position to the preview point can be calculated in real time based on the maximum centripetal acceleration, so that the running of the mobile robot can be controlled in real time, and the timeliness of the control of the mobile robot is improved.
EXAMPLE III
Fig. 5 is a schematic structural diagram of a control device of a mobile robot according to a third embodiment of the present invention. The control device of the mobile robot provided by the embodiment of the invention can execute the processing flow provided by the control method of the mobile robot. As shown in fig. 3, the control device 30 for the mobile robot includes: a preview point determination module 301, a data processing module 302 and a control execution module 303.
Specifically, the preview point determining module 301 is configured to determine a preview point according to the planned path.
And the data processing module 302 is used for determining a target speed and a target rotation angular speed from the current position to the pre-aiming point according to the maximum centripetal acceleration of the mobile robot.
And the control execution module 303 is configured to control the mobile robot to travel along the planned path according to the target speed and the target turning speed.
The apparatus provided in the embodiment of the present invention may be specifically configured to execute the method embodiment provided in the first embodiment, and specific functions are not described herein again.
According to the embodiment of the invention, after the preview point is determined, the target speed and the target rotation angular speed from the current position to the preview point are determined according to the maximum centripetal acceleration of the mobile robot, and the mobile robot is controlled to run according to the target speed and the target rotation angular speed from the current position to the preview point, so that the transverse control quantity and the longitudinal control quantity can be automatically determined, an upstream planning module is not required to calculate the speeds of all position points on a planned path, the upstream planning module only provides the planned path, and the resources can be saved.
Example four
Fig. 6 is a schematic structural diagram of a control device of a mobile robot according to a fourth embodiment of the present invention. On the basis of the third embodiment, in this embodiment, the data processing module is further configured to:
determining a curvature from a current position to a preview point; determining a target speed according to the curvature and the maximum centripetal acceleration; and determining the target corner speed according to the curvature and the target speed.
In an optional implementation, the data processing module is further configured to:
determining a transverse error from the current position to a pre-aiming point according to the current orientation and the current position of the mobile robot and the position of the pre-aiming point;
and determining the curvature from the current position to the preview point according to the transverse error and the distance from the current position to the preview point.
In an optional embodiment, the preview point determining module is further configured to:
and determining a pre-aiming point on the planned path according to the current position and the pre-aiming distance.
In an alternative embodiment, as shown in fig. 6, the control device 30 of the mobile robot further includes:
a data acquisition module 304 to: and acquiring the maximum centripetal acceleration of the mobile robot.
In an optional implementation, the data obtaining module 304 is further configured to: a planned path is obtained from a planning module.
In an optional embodiment, the preview point determining module is further configured to determine a preview point on the planned path at intervals according to the control frequency.
In an optional embodiment, the control execution module is further configured to:
and sending the target speed and the target turning speed to the chassis module, and controlling the chassis module to control the mobile robot to run according to the target speed and the target turning speed.
The apparatus provided in the embodiment of the present invention may be specifically configured to execute the method embodiment provided in the second embodiment, and specific functions are not described herein again.
According to the embodiment of the invention, the transverse error from the current position to the pre-aiming point is determined according to the current orientation and the current position of the mobile robot and the position of the pre-aiming point; according to the transverse error and the distance between the current position and the pre-aiming point, the curvature from the current position to the pre-aiming point is determined, and according to the curvature from the current position to the pre-aiming point and the maximum centripetal acceleration, the target speed from the current position to the pre-aiming point is determined, the speed of each position point on a planned path does not need to be planned in advance, and the target speed can be determined quickly; then, according to the curvature and the target speed from the current position to the pre-aiming point, the target corner speed from the current position to the pre-aiming point is determined, the running of the mobile robot is controlled according to the target speed and the target corner speed from the current position to the pre-aiming point, the transverse control quantity and the longitudinal control quantity can be automatically determined, the speed of all position points on a planned path does not need to be calculated by an upstream planning module, the upstream planning module only provides the planned path, the resources can be saved, and the efficiency of the planning module is improved; and the maximum centripetal acceleration is the inherent attribute of the mobile robot and is easy to obtain, and after the preview point is determined each time, the target speed and the target rotation angular speed from the current position to the preview point can be calculated in real time based on the maximum centripetal acceleration, so that the running of the mobile robot can be controlled in real time, and the timeliness of the control of the mobile robot is improved.
EXAMPLE five
Fig. 7 is a schematic structural diagram of a mobile robot according to a fifth embodiment of the present invention. As shown in fig. 7, the apparatus 100 includes: a processor 1001, a memory 1002, and computer programs stored on the memory 1002 and executable on the processor 1001.
When the processor 1001 runs the computer program, the method for controlling the mobile robot provided in any one of the above method embodiments is implemented.
According to the embodiment of the invention, after the preview point is determined, the target speed and the target rotation angular speed from the current position to the preview point are determined according to the maximum centripetal acceleration of the mobile robot, and the mobile robot is controlled to run according to the target speed and the target rotation angular speed from the current position to the preview point, so that the transverse control quantity and the longitudinal control quantity can be automatically determined, an upstream planning module is not required to calculate the speeds of all position points on a planned path, the upstream planning module only provides the planned path, the resources can be saved, and the efficiency of the planning module is improved; and the maximum centripetal acceleration is the inherent attribute of the mobile robot and is easy to obtain, and after the preview point is determined each time, the target speed and the target rotation angular speed from the current position to the preview point can be calculated in real time based on the maximum centripetal acceleration, so that the running of the mobile robot can be controlled in real time, and the timeliness of the control of the mobile robot is improved.
In addition, an embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the method for controlling a mobile robot provided in any one of the above-mentioned method embodiments is implemented.
It is obvious to those skilled in the art that, for convenience and simplicity of description, the foregoing division of the functional modules is merely used as an example, and in practical applications, the above function distribution may be performed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to perform all or part of the above described functions. For the specific working process of the device described above, reference may be made to the corresponding process in the foregoing method embodiment, which is not described herein again.
Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.
It will be understood that the invention is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the invention is limited only by the appended claims.
Claims (11)
1. A method for controlling a mobile robot, comprising:
determining a pre-aiming point according to the planned path;
determining a target speed and a target rotation angular speed from the current position to the pre-aiming point according to the maximum centripetal acceleration of the mobile robot;
and controlling the mobile robot to run along the planned path according to the target speed and the target turning speed.
2. The method of claim 1, wherein determining a target velocity and a target rotational angular velocity from a current position to the home sight point based on a maximum centripetal acceleration of the mobile robot comprises:
determining a curvature from a current position to the preview point;
determining the target speed according to the curvature and the maximum centripetal acceleration;
and determining the target corner speed according to the curvature and the target speed.
3. The method of claim 2, wherein determining the curvature from the current position to the preview point comprises:
determining a lateral error from the current position to the preview point according to the current orientation and the current position of the mobile robot and the position of the preview point;
and determining the curvature from the current position to the preview point according to the transverse error and the distance from the current position to the preview point.
4. The method of claim 1, wherein determining the preview point based on the planned path comprises:
and determining a pre-aiming point on the planned path according to the current position and the pre-aiming distance.
5. The method of claim 1, wherein prior to determining the target velocity and the target rotational angular velocity from the current position to the home sight point based on the maximum centripetal acceleration of the mobile robot, further comprising:
and acquiring the maximum centripetal acceleration of the mobile robot.
6. The method of claim 1, wherein prior to determining the preview point based on the planned path, further comprising:
the planned path is obtained from a planning module.
7. The method of any one of claims 1 to 6, further comprising:
according to the control frequency, determining a pre-aiming point on the planned path at intervals, determining a target speed and a target rotation speed from the current position to the pre-aiming point, and controlling the mobile robot to travel along the planned path according to the target speed and the target rotation speed.
8. The method according to any one of claims 1 to 6, wherein said controlling the mobile robot to travel along the planned path according to the target speed and target turning speed comprises:
and sending the target speed and the target turning speed to a chassis module, and controlling the chassis module to control the mobile robot to run according to the target speed and the target turning speed.
9. A control device for a mobile robot, comprising:
the preview point determining module is used for determining a preview point according to the planned path;
the data processing module is used for determining a target speed and a target corner speed from the current position to the pre-aiming point according to the maximum centripetal acceleration of the mobile robot;
and the control execution module is used for controlling the mobile robot to run along the planned path according to the target speed and the target turning speed.
10. A mobile robot, comprising:
a processor, a memory, and a computer program stored on the memory and executable on the processor;
wherein the processor, when executing the computer program, implements the method of any of claims 1 to 8.
11. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1 to 8.
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