KR20120092235A - Apparatus for controlling mobile robot and method of the same - Google Patents

Abstract

PURPOSE: A control device and method of a mobile robot are provided to kinematically and dynamically control the movement of a robot with an adaptive PD(Proportional Derivative) control method, thereby moving the robot independent of changes in the weight and centroid of the robot. CONSTITUTION: A control device of a mobile robot comprises a kinematic controller(132), a parameter estimator(136), and a dynamic controller(134). The kinematic controller receives location information and direction error information according to the actual movement of a mobile robot and outputs a target forward speed(vref) and a target rotation speed(ωref) of the mobile robot. The parameter estimator receives forward and rotational acceleration created corresponding to the target forward and rotation speeds according to the movement of the mobile robot and estimates parameters(m,dr) related to the weight of the mobile robot. The dynamic controller receives information on the difference between the target forward and rotation speeds and the actual movement of the mobile robot and determines torque(τr,τl) of motors(M1,M2,120,122).

Description

Control device of mobile robot and its method {APPARATUS FOR CONTROLLING MOBILE ROBOT AND METHOD OF THE SAME}

The present invention relates to a control device for a mobile robot, and more particularly, to a control device and a method for tracking a target independent of a change in the weight and the center of gravity position of a mobile robot having a plurality of wheels.

In addition, the present invention relates to a control device and a method capable of independently moving and controlling the position of the weight and center of gravity of a mobile robot carrying various weights by using an adaptive PD control method.

In order to be able to autonomously operate in various environments, it is necessary to secure the robot's movement ability. Recently, various studies on this robot have been actively conducted. These findings apply to robots in various fields, such as surveillance robots and cleaning robots. However, the robot industry has not made great progress in recent years due to the problems of low perfection or usability in real life despite much research and development of the robot.

The most basic and most important ability of the existing mobile robot is its mobility and transport capacity. Among the studies to replace the transport by manpower with robots are, for example, Big Dog, a Boston-based quadruped walking robot. However, robots with such joints are not guaranteed to be safe for real life and require too high production costs for a given role and utility.

Another example of a mobile robot is a robot with wheels. This can replace the existing shopping cart, which is very useful in real life. The basic functions of a mobile robot for a shopping cart are largely goal tracking and obstacle avoidance. However, many existing studies apply the control method considering only kinematics to the control of a mobile robot with wheels. That is, the robots moving at high speed or robots moving heavy objects change their weight and center of gravity when they are moving at high speed or are carrying an object of a certain weight. Therefore, in order to control the movement of the mobile robot, not only kinematics but also dynamics are required.

Nevertheless, many studies considering kinematics or dynamics control the movement of the mobile robot on the assumption that the weight of the mobile robot does not change and the position of the center of gravity is fixed at a specific position of the robot. Such a control method of the mobile robot cannot derive constant motion and performance of the mobile robot in a situation where the weight and the center of gravity of the mobile robot are variable.

It is an object of the present invention to provide a control apparatus and method for tracking a target of a mobile robot.

It is another object of the present invention to provide a control apparatus and method for tracking a target independent of the weight of a mobile robot.

It is still another object of the present invention to provide an apparatus and method for goal tracking that is independent of the weight of a mobile robot using an adaptive PD control scheme.

In order to achieve the above objects, the control device of the present invention is characterized by estimating weight-related parameters to control the movement of a mobile robot kinematically and dynamically. Such a control device can constantly control the movement of the mobile robot regardless of the change in the weight and the center of gravity position of the mobile robot.

The control apparatus of the mobile robot of the present invention according to this aspect, controls the movement for the target tracking of the mobile robot having a plurality of wheels and a plurality of motors connected to each of the wheels. The controller includes a kinematic controller that receives positional information for tracking the target of the mobile robot, receives direction error information according to actual movement of the mobile robot, and outputs a target straight speed and a target rotational speed of the mobile robot; ; A parameter estimator for estimating weight-related parameters of the mobile robot by receiving the straight acceleration and the rotational acceleration according to the movement of the mobile robot corresponding to the target straight speed and the target rotation speed; A dynamics controller that receives the target straight speed and the target rotational speed from the kinematic controller, and receives error information between the actual movement of the mobile robot and the weight related parameters from the parameter estimator to determine the rotational force of each of the motors; do.

According to another feature of the present invention, a control method for tracking a target of a mobile robot having a plurality of wheels and a plurality of motors coupled to each of the wheels is provided. According to this method, it is possible to constantly control the movement of the mobile robot even when a change in the weight and the center of gravity position due to the moving speed and the load object occurs during the target tracking.

The method according to this aspect receives position information and direction error information of the mobile robot for tracking a target. A target straight speed and a target rotation speed of the mobile robot are determined using the input position information and the direction error information. Estimate weight-related parameters according to the movement of the mobile robot. Receiving the determined target straight speed and the target rotational speed, the actual straight speed and the actual rotational speed of the mobile robot, calculating an error between the actual movement of the mobile robot, and receiving the weight-related parameters, Determine the torque. Subsequently, a rotational force is transmitted to each of the motors to drive the mobile robot.

As described above, the control device of the mobile robot of the present invention estimates the weight-related parameters, and thereby determines the rotational force of the plurality of motors driving the plurality of wheels, thereby changing the weight and the center of gravity of the mobile robot. Regardless, the movement of the mobile robot can be controlled constantly.

In addition, the control device of the mobile robot of the present invention controls the movement kinematically and dynamically by using the adaptive PD control method, it is possible to move independently of the change in the position of the weight and the center of gravity when tracking the target, By minimizing the distance error, the movement of the mobile robot can be controlled so that the target tracking is accurate and fast.

1 is a view showing a schematic configuration of a mobile robot having a plurality of wheels according to an embodiment of the present invention;
2 is a diagram showing the configuration of the mobile robot shown in FIG. 1;
3 is a block diagram showing the configuration of a control device for a mobile robot according to the present invention;
4 is a view for explaining a motion vector component according to the target tracking of a mobile robot according to the present invention;
5 and 6 are diagrams showing a scenario for a change in the weight and the center of gravity position of the mobile robot according to an embodiment of the present invention;
7 is a waveform diagram showing simulation results according to the present invention and general PD control;
8 is a waveform diagram showing an error according to the simulation result and general PD control of the present invention; And
9 is a flowchart illustrating a control procedure of the mobile robot according to the present invention.

The embodiments of the present invention can be modified into various forms and the scope of the present invention should not be interpreted as being limited by the embodiments described below. The present embodiments are provided to enable those skilled in the art to more fully understand the present invention. Therefore, the shapes and the like of the components in the drawings are exaggerated in order to emphasize a clearer explanation.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to FIGS. 1 to 9.

1 is a view showing a schematic configuration of a mobile robot having a plurality of wheels according to an embodiment of the present invention.

Referring to FIG. 1, the mobile robot 100 replaces an apparatus for transferring an object, for example, a shopping cart 10, and includes a plurality of wheels 110 and 112. In FIG. 1, the wheel 112 is not visible. Referring to FIG. 2, it is easily understood. The mobile robot 100 of this embodiment is provided with at least two wheels 110, 112. In another embodiment, the mobile robot 100 may be a device having four wheels, such as a device, such as a vehicle, in which the weight and the center of gravity of the mobile device may change when moving, and a manipulator is mounted to load an object. It may be a robot for transporting. Here, the technical details of the present invention will be described in detail using the mobile robot 100 having two wheels 110 and 112.

2 is a view showing a part of the configuration of the mobile robot shown in Figure 1, Figure 3 is a block diagram showing the configuration of a control device for controlling the movement according to the target tracking of the mobile robot according to the present invention.

First, referring to FIG. 2, the mobile robot 100 is provided with a body 102, two wheels 110 and 112 disposed on both sides of the lower end of the body 102, and each wheel installed inside the body 102. Two motors M1 and M2 120 and 122 connected to 110 and 112, respectively.

The mobile robot 100 has a specific weight, and the weight and the center of gravity position 104 or 106 are changed according to the loading and moving speed of the object. Therefore, the mobile robot 100 of the present invention includes a control device (130 of FIG. 3) for controlling to allow a constant movement regardless of a change in weight-related parameters (eg, weight, center of gravity position, etc.). . Of course, the control device 130 may be provided on the outside of the mobile robot 100 to enable remote control using wired or wireless communication.

The wheels 110 and 112 are parallel to the traveling directions Fr and Fl, and their central axes are located on the same line. For example, the central axes of the wheels 110, 112 are disposed on the center of gravity positions 104, 106 of the mobile robot 100. Each of the wheels 110, 112 is independently driven by a respective motor 120, 122. Each of the motors 120 and 122 generates a variable rotational force in response to the change of the weight and the center of gravity under the control of the control device 130 of the present invention, thereby rotating the wheels 110 and 112.

The distance from the center of gravity position 104 of the mobile robot 100 to the center of each of the left and right wheels 110 and 112 is denoted by d _l and d _r , respectively, and the sum thereof is the distance between the two wheels 110 and 112. d. Each of the wheels 110 and 112 has a diameter d _w of the same size. The position of the mobile robot 100 is defined as the center of gravity position 104 or 106 of the mobile robot 100. Here, the center of gravity position 106 indicates that the center of gravity of the mobile robot 100 is moved to the right by high speed movement, cargo loading, and the like. The center of gravity position 104 or 106 is represented by the values of the x-axis and the y-axis according to the XY coordinate system, and the moving direction of the mobile robot 100 is represented by the angle θ with the x-axis.

In addition, the linear speed and the rotational speed which are dynamic parameters of the mobile robot 100 are respectively v. And w Respectively. Therefore, the complete mathematical model of the mobile robot 100 is the following equation (1).

Where r _w is the radius of each of the wheels 110, 112, k _b Are constants for counter electromotive force generated by the rotation of the motors 120 and 122, τ _r and τ _l are the torques of the respective motors 120 and 122, and w _r And w _l are the rotational speeds of each of the wheels 110, 112. Rotational speed w _r And w _l may be represented by a straight line speed v and a rotational speed w of the mobile robot 100, as shown in Equation 2 below.

In general, it is assumed that the center of gravity of the mobile robot having the wheel is fixed to the central axis of the mobile robot, thereby driving the mobile robot. However, the present invention contemplates that the center of gravity position 104 of the mobile robot 100 may shift, for example, to the right or left. To this end, the present invention is adaptive proportional differential control to maintain a constant performance of the mobile robot 100 at all times regardless of changes in the overall weight and the center of gravity of the mobile robot 100 due to high-speed movement, cargo loading, etc. The movement of the mobile robot 100 is controlled by kinematics and dynamics using an adaptive PD control method.

Specifically, referring to FIG. 3, the control device 130 of the present invention is provided with an adaptive PD controller in consideration of a kinematic and dynamic model. The control device 130 includes a kinematic controller 132, a dynamic controller 134, and a parameter estimator 136. The control device 130 controls the rotational force of the plurality of motors (110, 112) for driving the mobile robot 100 for weight independent target tracking.

The kinematic controller 132 outputs the speeds v _ref and w _ref for a target for kinematic control of the mobile robot 100 by inputting the kinematic error of the mobile robot 100. That is, the kinematic controller 132 receives the position information (x _ref , y _ref ) and the direction error information (e _x , e _y ) of the mobile robot 100, and thus the target straight velocity v _ref of the mobile robot 100. ) And the target rotational speed w _ref . At this time, the direction error information (e _x , e _y ) are error values between the position information (x _ref , y _ref ) and the actual movement (x, y, θ) of the mobile robot. These error values are calculated by receiving the position information (x, y) and the moving direction (θ) moving from the mobile robot 100 corresponding to the position information (x _ref , y _ref ). Therefore, the target straight velocity v _ref and the target rotational speed v _ref , w _ref output from the kinematic controller 132 are as shown in Equations 3 and 4 below.

Here, the target straight velocity v _ref of the mobile robot 100 by the kinematic controller 132 is the amount of change in the component size with respect to the current straight movement of the mobile robot 100 in the vector component to the target point 200 in FIG. 4. The target rotational speed w _ref is an amount of change in the angle θ difference from the current moving direction to the target point 200. And e _pv and e _pw are errors for the target 200, and k _kvp , k _kvd , k _kwp , and k _kwd are P gain values and D gain values, respectively.

Here, e _pv and e _pw are represented by Equations 5 and 6 according to FIG. 4.

The dynamics controller 134 is a target straight speed v _ref and a target rotational speed w _ref of the mobile robot 100 output from the kinematic controller 132, and an actual linear speed v fed back from the mobile robot 100. ) And the rotational speed (w) to calculate the error values (e _v , e _w ) according to the actual movement state of the mobile robot 100, and receives the input motors (120, 122) of the mobile robot 100 Determine the respective rotational forces τ _r , τ _l . That is, the dynamics controller 134 receives the target straight velocity v _ref and the target rotational speed w _ref from the kinematic controller 132, and the errors e _v , e _w between the movements of the actual mobile robot 100. ), And apply the adaptive PD control to determine the rotational force τ _r , τ _l of each motor 120, 122 of the mobile robot 100. The dynamics controller 134 outputs the determined rotational forces τ _r , τ ₁ to the motors 120, 122 of the mobile robot 100, respectively. At this time, the rotational forces τ _r and τ _l output to the motors 120 and 122 are reduced in proportion to the rotational speeds of the motors 120 and 122 by the counter electromotive force of the motors 120 and 122, and thus reduced. Only the turned force is actually transmitted to the wheels 110 and 112 of the mobile robot 100.

The dynamics controller 134 also accepts the weight related parameters m, d _r from the parameter estimator 136 to determine the rotational forces τ _r , τ _l of each motor 120, 122. These rotational forces τ _r , τ _l are the results of considering the parameters for the weight m and the center of gravity position d _r of the mobile robot 100. Therefore, the parameter estimator 136 estimates the weight-related parameters m and d _r when the weight m and the center of gravity position d _r of the mobile robot 100 change due to high speed movement, object movement, and the like. In response to the weight-related parameters m, d _r , the dynamics controller 134 adjusts the rotational forces τ _r , τ _l of the motors 120, 122.

) 및 회전 가속도(

)를 받아서, 이동 로봇(100)의 무게 관련 파라미터(m, d_r)들을 추정하고, 추정된 무게 관련 파라미터(m, d_r)들을 동역학 제어기(134)로 제공한다. 여기서 무게 관련 파라미터(m, d_r)들은 이동 로봇(100)의 무게(m)와 무게 중심 위치(d_r)를 포함한다.And the parameter estimator 136 is a straight acceleration (v) according to the movement of the mobile robot 100 by the straight speed (v) and rotation speed (w) (

) And rotational acceleration (

), The weight-related parameters m, d _r of the mobile robot 100 are estimated, and the estimated weight-related parameters m, d _{r are} provided to the dynamics controller 134. Here, the weight-related parameters m and d _r include the weight m and the center of gravity position d _r of the mobile robot 100.

) 및 회전 가속도(

)를 받아들이고, 파라미터 추정을 통해 실제 무게 관련 파라미터(m, d_r)들의 값을 동역학 제어기(134)로 출력한다. 이에 동역학 제어기(134)는 이동 로봇(100)의 직진 가속도(

) 및 회전 가속도(

)가 무게 관련 파라미터(m, d_r)들의 변화에 상관없이 일정하게 움직일 수 있도록 아래의 수학식 7 및 수학식 8을 이용하여 설계된다.Therefore, the parameter estimator 136 may use the straight acceleration according to the movement of the mobile robot 100 (

) And rotational acceleration (

) And output the values of the actual weight related parameters m, d _r to the dynamics controller 134 through parameter estimation. The dynamic controller 134 is a straight acceleration of the mobile robot 100 (

) And rotational acceleration (

) Is designed using Equations 7 and 8 below to move constantly regardless of the change in the weight-related parameters m, d _r .

) 및 무게 중심 위치(

)에 대한 적응 PD 제어에 의한 추정치가 반영된 회전력(

,

)의 토크값을 나타내며, k_b는 역기전력 상수, w_r 와 w_l은 바퀴(110, 112)들 각각의 회전 속도이다. 또

및

,

각각은 이동 로봇(100)의 무게 및 무게 중심 위치에 대한 기준값, 그리고

및

, 각각은 기준값으로부터 변화된 이동 로봇(100)의 무게 및 무게 중심 위치에 대한 특정값을 나타낸다.Where Equation 7 is the specific weight (

) And center of gravity position (

Rotational Force () Reflected Estimation by Adaptive PD Control

,

K _b is the counter electromotive force constant, w _r and w _l are the rotational speeds of each of the wheels 110 and 112. In addition

And

,

Each reference value for the weight and the center of gravity position of the mobile robot 100, and

And

, Each represents a specific value for the weight and center of gravity position of the mobile robot 100 changed from the reference value.

The adaptive PD control values u _v and u _w reflecting the errors e _v and e _w generated according to the change of the weight-related parameters m and d _r may be expressed by Equation 8.

Where k _dvp , k _dvd , k _dwp , and k _dwd are P gain values and D gain values for errors e _v and e _w , respectively. By using Equation 8, the dynamics controller 134 receives an error (e _v , e _w ) between the target straight acceleration and the target rotational acceleration and the actual straight acceleration and the actual rotational acceleration to rotate the motors 120 and 122. Adjust

Therefore, the dynamics controller 134 may determine that the rotational acceleration of each motor 120, 122 is determined by a specific parameter value according to the weight-related parameters m, d _r estimated from the parameter estimator 136. The amount of input torque of each of the motors 120 and 122 is adjusted to be equal to the rotational acceleration of.

) 및 회전 가속도(

)를 받아들이고, 이동 로봇(100)의 무게 관련 파라미터들(예를 들어, 무게 및 무게 중심 위치)을 추정하여 동역학 제어기(134)로 제공한다.In detail, the parameter estimator 136 may use the straight forward acceleration (

) And rotational acceleration (

), The weight related parameters (eg, weight and center of gravity position) of the mobile robot 100 are estimated and provided to the dynamics controller 134.

The parameter estimator 136 requires the parameter estimation to be accurate for the high performance of the control device 130. Accordingly, the parameter estimator 136 of the present invention includes a parameter estimation algorithm, as shown in Equations 9 to 11 below. In this embodiment, recursive least squares is applied as a parameter estimation algorithm.

Where d _w is the diameter of the wheel. In addition, the parameter estimator 136 updates the information matrix through the following equations (12) to (14).

The values of the estimated weight related parameters are then updated by Equations 15 and 16 below.

The initial parameter estimation value is set to the value of the target or reference parameter, as shown in Equation 17.

As described above, the control device 130 of the mobile robot 100 of the present invention estimates the weight-related parameters (m, d _r ) from the parameter estimator 136 and uses the adaptive PD in the dynamics controller 134 using them. Through control, the rotational forces τ _r and τ _l of the respective motors 120 and 122 are adjusted and output. As a result, the mobile robot 100 of the present invention always moves constantly at the target tracking regardless of the change of the weight and the center of gravity position.

5 to 8 will be described for the simulation of the mobile robot according to an embodiment of the present invention.

5 and 6 are waveform diagrams showing a scenario for a change in the weight and the center of gravity position of the mobile robot according to an embodiment of the present invention, Figure 7 is a waveform diagram showing a simulation result according to the present invention and the general PD control And, Figure 8 is a waveform diagram showing the error according to the simulation results and the general PD control of the present invention.

First, referring to FIGS. 5 and 6, these waveform diagrams show a scenario for a change in the weight m and the center of gravity position d _r of the mobile robot according to an embodiment of the present invention. The amount of change of the weight m and the center of gravity position d _r of the mobile robot as time passes. This means that the weight-related parameters m and d _r of the mobile robot 100 are changed by high speed movement, object transfer, and the like.

Referring to FIG. 7, the simulation tracks a target by moving a mobile robot at a constant speed in the form of a square wave starting from the origin coordinates (0, 0) of the XY coordinate system. At this time, as shown in FIGS. 5 and 6, the simulation controls the movement of the mobile robot 100 by changing the weight m and the center of gravity position d _{r of} the mobile robot 100. The waveform diagrams of (a) to (c) show a target trajectory for tracking the target of the mobile robot and a mobile robot trajectory representing the actual movement of the mobile robot.

First, the waveform diagram of (a) almost coincides with the target trajectory when the mobile robot 100 moves without changing the weight m and the center of gravity position d _r of the mobile robot 100. The waveform diagram of (b) shows the trajectory of the mobile robot by the general PD control method, and the waveform diagram of (c) shows the target trajectory of the mobile robot 100 and the actual mobile robot 100 according to the embodiment of the present invention. Represents a moving robot trajectory to indicate the movement of the robot.

Therefore, when comparing (b) and (c), the general PD control type mobile robot 20 has errors (ΔE1 to ΔE4) in which the target track and the mobile robot track do not coincide in various sections. However, the kinematic and dynamically controlled control device 130 according to the present invention constantly adjusts the rotational force of the motors 120 and 122 in response to the change of the weight m and the center of gravity position d _r . By doing so, it can be seen that the mobile robot trajectory and the target trajectory are more consistent than (b). That is, it can be seen that the waveform diagram of (c) almost coincides with the waveform diagram of (a) irrespective of the change of the weight m and the center of gravity position d _r .

In addition, as shown in FIG. 8, when comparing the mobile robot track according to the present invention and the mobile robot track according to the general PD control, an error of about 1 m or more occurs in some sections while the distance error due to the general PD control occurs. The distance error of the present invention caused a smaller distance error (for example, about 0.08 m or less) even with the change of the weight related parameters.

9 is a flowchart showing a control procedure of the mobile robot according to the present invention. This procedure is handled by the adaptive proportional differential control method considering the kinematic and dynamic movement of the mobile robot. Here, the configuration of the control device 130 of FIG. 3 will be described in detail.

9, in step S300, the kinematic controller 132 receives position information (x _ref , y _ref ) and direction error information (e _x , e _y ) for tracking the target of the mobile robot 100. At this time, the direction error information (e _x , e _y ) is an error value between the position information (x _ref , y _ref ) and the actual movement (x, y, θ) of the mobile robot 100. The position information (x, y) and the moving direction (θ) that are moved corresponding to the position information (x _ref , y _ref ) are received from the feedback.

In step S310, the kinematic controller 132 uses the input position information (x _ref , y _ref ) and the direction error information (e _x , e _y ) to set the target straight velocity v _ref of the mobile robot 100 for goal tracking. ) And the target rotational speed w _ref . The determined target straight speed v _ref and target rotational speed w _ref are output to the dynamics controller 134.

) 및 회전 가속도(

)를 받아들이고, 이동 로봇(100)의 무게 관련 파라미터들(예를 들어, 무게 및 무게 중심 위치)(m, d_r)을 추정한다. 이 때, 파라미터 추정기(136)는 회귀적 최소 자승법을 이용하여 무게 관련 파라미터(m, d_r)들을 추정한다. 추정된 무게 관련 파라미터(m, d_r)들은 동역학 제어기(134)로 제공된다.In step S320, the parameter estimator 136 performs a straight forward acceleration (

) And rotational acceleration (

), And estimate the weight related parameters (eg, weight and center of gravity position) (m, d _r ) of the mobile robot 100. At this time, the parameter estimator 136 estimates weight related parameters m and d _r using a regression least square method. The estimated weight related parameters m, d _r are provided to the dynamics controller 134.

In step S330, the dynamics controller 134 receives the target straight speed v _ref and the target rotational speed w _ref from the kinematic controller 132, and from the mobile robot 100 the actual straight speed v and the actual rotational speed ( w) to calculate the error values (e _v , e _w ) between the actual movements of the mobile robot 100, and receive the weight-related parameters (m, d _r ) from the parameter estimator 136 for each motor 120, The rotational forces τ _r , τ _l of the 122). Subsequently, in step S340, the dynamics controller 134 transmits the rotational forces τ _r and τ _l to the respective motors 120 and 122 to drive the mobile robot 100.

In the above, the configuration and operation of the control device of the mobile robot according to the present invention has been shown in accordance with the detailed description and drawings, but this is merely described by way of example, and various changes and modifications within the scope without departing from the spirit of the present invention. Changes are possible.

100: mobile robot 104, 106: center of gravity position
110, 112: wheel 120, 122: motor
130: control device 132: kinematic controller
134: dynamics controller 136: parameter estimator
200: goal

Claims (10)

In a control device for tracking a target of a mobile robot having a plurality of wheels and a plurality of motors connected to each of the wheels:
A kinematic controller that receives positional information for the target tracking of the mobile robot, receives direction error information according to actual movement of the mobile robot, and outputs a target straight speed and a target rotational speed of the mobile robot;
A parameter estimator for estimating weight-related parameters of the mobile robot by receiving the straight acceleration and the rotational acceleration according to the movement of the mobile robot corresponding to the target straight speed and the target rotation speed;
A dynamics controller that receives the target straight speed and the target rotational speed from the kinematic controller, and receives error information between the actual movement of the mobile robot and the weight related parameters from the parameter estimator to determine the rotational force of each of the motors; Control device for a mobile robot, characterized in that. The method of claim 1,
The kinematic controller;
The control device of the mobile robot, characterized in that for calculating the direction error information by receiving the position information and the movement direction between the actual movement of the mobile robot corresponding to the position information. The method of claim 1,
The weight related parameter;
And a parameter corresponding to the weight of the mobile robot and the position of the center of gravity of the mobile robot. The method according to claim 2 or 3,
The parameter estimator;
And a parameter estimation algorithm applying a recursive least squares method for estimating the weight-related parameters. The method of claim 4, wherein
And the dynamics controller is provided as an adaptive proportional differential controller. In the control method of a mobile robot having a plurality of wheels and a plurality of motors connected to each of the wheels:
Receiving position information and direction error information of the mobile robot for tracking a target;
Determining a target straight speed and a target rotational speed of the mobile robot by using the input position information and the direction error information;
Estimating weight-related parameters according to the movement of the mobile robot;
The target linear speed and the target rotational speed, the actual straight speed and the actual rotational speed of the mobile robot are calculated, an error value between the actual movement of the mobile robot is calculated, and the weight-related parameters are respectively received. Determine the rotational force of; next
And transmitting the rotational force to each of the motors to drive the mobile robot. The method according to claim 6,
Receiving the direction error information;
And calculating an error value between the position information and the actual movement of the mobile robot. The method of claim 7, wherein
Estimating the weight related parameters;
A method for controlling a mobile robot, characterized in that it receives linear acceleration and rotational acceleration from the mobile robot and estimates parameters of the weight and the center of gravity of the mobile robot using a regression least square method. The method of claim 8,
Determining the rotational force;
And controlling the amount of rotational torque of each of the motors corresponding to the parameters for the weight and the center of gravity position. 10. The method according to any one of claims 6 to 9,
The control method is;
The control method of the mobile robot, characterized in that processed in the adaptive proportional differential control method taking into account the kinematic and dynamic movement of the mobile robot.

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