WO2019047415A1 - 轨迹跟踪方法和装置、存储介质、处理器 - Google Patents
轨迹跟踪方法和装置、存储介质、处理器 Download PDFInfo
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- G05D1/12—Target-seeking control
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- the present invention relates to the field of robot navigation, and in particular to a trajectory tracking method and apparatus, a storage medium, and a processor.
- Robot navigation technology is one of the core technologies in the field of robotics. Its research goal is to control the robot to obtain environmental information and determine its own state through sensors in a specific scene, to achieve self-positioning, and to plan autonomous activities to the target under the current specific scene. To complete the given task.
- trajectory tracking is one of the classic problems. It requires the robot to run along a given trajectory.
- the difficulty of the trajectory tracking problem lies in how to generate the robot control according to the current state of the robot and the given trajectory.
- the signal makes the robot's running trajectory consistent with the given trajectory.
- the embodiment of the invention provides a trajectory tracking method and device, a storage medium and a processor, so as to at least solve the technical problem that the trajectory of the robot cannot be controlled to be consistent with the predetermined trajectory in the prior art.
- a trajectory tracking method includes: acquiring a current location of a target device; determining a distance between the current location and a predetermined location in the preset target trajectory and a preset distance threshold; If it is determined that the distance between the current location and the predetermined location is greater than the preset distance threshold, generating a control command according to the current location and the predetermined location of the target device, where the control command includes the following information: angular velocity and linear velocity of the target device moving, The control command is used to control the target device to move from the current position to the predetermined position according to the angular velocity and the linear velocity.
- the method further includes: if it is determined that the distance between the current position and the predetermined position is less than or equal to the preset distance threshold And determining a next predetermined position of the target trajectory, wherein the distance between the next predetermined position and the current position is greater than a preset distance threshold, and the next predetermined position is a next position of the predetermined position; according to the current position of the target device And a next predetermined position generating control instruction, wherein the control instruction is for controlling the target device to move from the current position to the next predetermined position according to the angular velocity and the linear velocity.
- acquiring the current location of the target device includes: acquiring a location variable and a direction variable of the target device; and determining a current location of the target device according to the location variable and the direction variable.
- the method before determining the distance between the current position and the predetermined position in the preset target trajectory and the preset distance threshold, the method further includes: the target trajectory The initial track point is determined as a predetermined position; the position variable and the direction variable of the predetermined position are acquired, wherein the current position and the preset target are determined according to the position variable and the direction variable of the target device, and the position variable and the direction variable of the predetermined position The distance to the predetermined position in the track.
- generating a control instruction according to the current position and the predetermined position of the target device including: determining, according to the position variable and the direction variable of the current position, and the position variable and the direction variable of the predetermined position, determining that the target device moves from the current position to the predetermined position Navigation vector; normalizes the navigation vector to obtain the normalized navigation vector; obtains the angle value of the normalized navigation vector; and obtains the angle value according to the navigation vector and the normalized navigation vector Control instruction.
- x t , y t are the position variables of the current position
- ⁇ t is the direction variable of the current position
- x tar is the position variable of the predetermined position
- ⁇ tar is the direction variable of the predetermined position
- F is the navigation vector
- p n represents the abscissa of the target pose vector p
- p m represents the ordinate of the target pose vector p.
- navigation vector is normalized by the following method to obtain a normalized navigation vector:
- F n is a normalized navigation vector
- angle value of the normalized navigation vector is calculated by the following formula: Where ⁇ is the angle value of the normalized navigation vector.
- control command is calculated by the following formula:
- a t for the target device control commands at time t v linear target device moving linear velocity, v angular target device movement angular velocity, x t, y t position variable as the target device
- ⁇ t is the target device
- the direction variable, ⁇ is the angle value of the normalized navigation vector.
- tanh is a hyperbolic tangent function
- k u , k w are preset control parameters, where k u is the linear velocity of the control target device, and k w is the angular velocity of the control target device.
- the method further includes: converting the control instruction into a control signal; and transmitting the control signal to the target device to control the target device to move according to the control signal.
- a trajectory tracking apparatus including: an obtaining module configured to acquire a current location of a target device; and a determining module configured to determine a current location and a predetermined target trajectory The distance between the position and the preset distance threshold; the control module is configured to generate a control command according to the current position and the predetermined position of the target device if it is determined that the distance between the current position and the predetermined position is greater than the preset distance threshold, wherein
- the control command includes the following information: angular velocity and linear velocity of the target device movement, and the control command is set to control the target device to move from the current position to the predetermined position according to the angular velocity and the linear velocity.
- a storage medium comprising a stored program, wherein the program performs the trajectory tracking method of any of the above.
- a processor for executing a program, wherein the trajectory tracking method of any one of the above is executed while the program is running.
- the current position of the target device is obtained by using a loop control manner; the distance between the current position and the predetermined position in the preset target trajectory and the preset distance threshold are determined; if the current position is determined The distance from the predetermined position is greater than the preset distance threshold, and the control command is generated according to the current position and the predetermined position of the target device, wherein the control instruction includes the following information: angular velocity and linear velocity of the target device movement, and the control command is used for controlling The target device moves from the current position to the predetermined position according to the angular velocity and the linear velocity, and achieves the purpose of moving one track point of the robot and then one track point to the final position of the target track, thereby realizing the technique of controlling the running track of the robot and the predetermined track.
- the effect further solves the technical problem that the trajectory of the robot cannot be controlled to be consistent with the predetermined trajectory in the prior art.
- FIG. 1 is a flow chart showing the steps of a trajectory tracking method according to an embodiment of the present invention
- FIG. 2 is a schematic diagram of an optional target trajectory according to an embodiment of the present invention.
- FIG. 3 is a flow chart showing the steps of an optional trajectory tracking method according to an embodiment of the present invention.
- FIG. 4 is a flow chart showing the steps of an optional trajectory tracking method according to an embodiment of the present invention.
- FIG. 5 is a flow chart showing the steps of an optional trajectory tracking method according to an embodiment of the present invention.
- FIG. 6 is a flow chart showing the steps of an optional trajectory tracking method according to an embodiment of the present invention.
- FIG. 7 is a schematic diagram of an optional target device moving under navigation vector navigation according to an embodiment of the present invention.
- FIG. 8 is a flow chart showing the steps of an optional trajectory tracking method according to an embodiment of the present invention.
- FIG. 9 is a flow chart showing the steps of an optional trajectory tracking method according to an embodiment of the present invention.
- FIG. 10 is a schematic structural diagram of a trajectory tracking apparatus according to an embodiment of the present invention.
- FIG. 1 is a flow chart of steps of a trajectory tracking method according to an embodiment of the present invention. As shown in FIG. 1, the method includes the following steps:
- Step S102 Acquire a current location of the target device.
- the target device may be a bionic device, and preferably, may be a robot.
- the position where the robot is currently located may be acquired by a sensor or a positioning device provided in the robot, wherein the current position may include the following information: a position variable and a direction vector of the robot, wherein the robot
- the position variable can be a position variable in the world coordinate system
- the direction vector of the robot can be the orientation angle of the robot at the position.
- step S104 the distance between the current position and the predetermined position in the preset target trajectory and the preset distance threshold are determined.
- a target trajectory may be preset or given, the target trajectory is a trajectory that requires the robot to run along the trajectory, and a predetermined position may be selected on the target trajectory
- FIG. 2 is based on A schematic diagram of an optional target trajectory according to an embodiment of the present invention.
- the predetermined position may be any one of the trajectory points on the target trajectory, for example, s 0 , s 1 , s 2 , etc.;
- the initial trajectory point s 0 on the target trajectory can be used to control the robot to move from the initial trajectory point to a predetermined position on the target trajectory along a given target trajectory, for example, the last trajectory point on the target trajectory.
- the distance between the current position and the predetermined position in the preset target trajectory may be an Euler distance, wherein the Euler distance is a distance between two points in the Cartesian coordinate system, and may be calculated according to the Euler distance formula.
- the preset distance threshold may be determined according to actual conditions.
- the robot may be selected to move on the target trajectory or move along a target trajectory on a trajectory that is offset from the target trajectory by a predetermined distance.
- the preset distance threshold may be 0, that is, the control robot moves on the target trajectory.
- the current position of the robot can be determined according to the position variable and the direction vector of the predetermined position in the preset target trajectory according to the current position variable and the direction vector of the robot in the world coordinate system.
- the distance from the predetermined position in the target trajectory can further determine the distance between the current position of the robot and the predetermined position in the target trajectory and the preset threshold size.
- Step S106 if it is determined that the distance between the current location and the predetermined location is greater than the preset distance threshold, generating a control instruction according to the current location and the predetermined location of the target device, wherein the control instruction includes the following information: target The angular velocity and linear velocity of the device movement, and the control command is used to control the target device to move from the current position to the predetermined position according to the angular velocity and the linear velocity.
- control instruction may include the following information: angular velocity and linear velocity of the target device movement, and is used to control the target device to move from the current position to the predetermined position according to the angular velocity and the linear velocity.
- the robot when it is determined that the distance between the current position and the predetermined position is greater than the preset distance threshold, it indicates that the current position of the robot has deviated from the given target trajectory, and therefore, the robot can be controlled from the current location.
- the position is moved to a predetermined position in the target trajectory.
- a is a control command
- v linear is the angular velocity
- v angular is the linear velocity.
- the controller may convert the control command into a control signal for controlling the motor in the robot, and send the control signal to the motor connected to the controller, and control the motor to perform a corresponding action.
- a virtual navigation vector may be calculated according to a current position of the robot and a predetermined position in the target trajectory, wherein the navigation vector is directed from the current position of the robot to the predetermined position, and may be according to the navigation vector.
- FIG. 3 is a flow chart of steps of an optional trajectory tracking method according to an embodiment of the present invention. As shown in FIG. 3, in determining the current position and a preset target trajectory. After the distance between the predetermined position and the preset distance threshold, the method further includes the following steps:
- Step S202 if it is determined that the distance between the current position and the predetermined position is less than or equal to the preset distance threshold, determining a next predetermined position of the target trajectory, wherein the distance between the next predetermined position and the current position is greater than a preset distance threshold, a predetermined position is a next position of the predetermined position;
- Step S204 generating a control instruction according to the current position of the target device and the next predetermined position, wherein the control instruction is used to control the target device to move from the current position to the next predetermined position according to the angular velocity and the linear velocity.
- the distance between the next predetermined position and the current position is preset to be greater than a preset distance threshold
- the next predetermined position is a next position of the predetermined position, as shown in FIG. 2, in a case where the predetermined position is s 0
- the next predetermined position may be s 1 .
- the Euler distance between the next predetermined position and the current position is preset to be greater than a preset distance threshold, and the moving distance of the robot may be controlled.
- the robot when it is determined that the distance between the current position and the predetermined position is greater than the preset distance threshold, it indicates that the robot is currently moving on the target trajectory, or is at a preset distance from the target trajectory along the target trajectory. Moving on one of the trajectories, therefore, based on the current position of the robot and the next predetermined position on the target trajectory, a control command is generated to control the movement of the robot to the next predetermined position.
- control instruction may include: an angular velocity and a linear velocity of the target device movement, and is used to control the target device to move from the current position to the next predetermined position according to the angular velocity and the linear velocity according to the given angular velocity and the linear velocity.
- path of the robot movement is consistent with the direction of the navigation vector.
- FIG. 4 is a flow chart of steps of an optional trajectory tracking method according to an embodiment of the present invention. As shown in FIG. 4, acquiring the current location of the target device includes the following steps:
- Step S302 acquiring a position variable and a direction variable of the target device
- Step S304 determining a current location of the target device according to the position variable and the direction variable.
- FIG. 5 is a flow chart of steps of an optional trajectory tracking method according to an embodiment of the present invention. As shown in FIG. 5, the initial trajectory point of the target trajectory is at a predetermined position. Next, before determining the distance between the current position and the predetermined position in the preset target trajectory and the preset distance threshold, the method further includes the following steps:
- Step S402 determining an initial trajectory point of the target trajectory as a predetermined position
- Step S404 acquiring a position variable and a direction variable of the predetermined position, wherein the distance between the current position and the predetermined position in the preset target track is determined according to the position variable and the direction variable of the target device, and the position variable and the direction variable of the predetermined position.
- the predetermined position is an initial sub-target of the robot movement.
- the Euler distance formula may be adopted according to the position variable and the direction variable of the target device, and the position variable and the direction variable of the predetermined position. The Euler distance between the current position and the predetermined position in the preset target trajectory is calculated.
- FIG. 6 is a flow chart of steps of an optional trajectory tracking method according to an embodiment of the present invention. As shown in FIG. 6, a control is generated according to a current location and a predetermined location of a target device.
- the instructions include the following steps:
- Step S502 determining a navigation vector that the target device moves from the current position to the predetermined position according to the position variable and the direction variable of the current position, and the position variable and the direction variable of the predetermined position;
- Step S504 normalizing the navigation vector to obtain a normalized navigation vector
- Step S506 obtaining an angle value of the normalized navigation vector.
- Step S508 obtaining a control instruction according to the navigation vector and the angle value of the normalized navigation vector.
- the navigation vector may be a vector having a direction to continuously guide the robot to move to a predetermined position, and may make the direction in which the robot moves to coincide with the orientation of the predetermined position.
- the above normalization is a simple dimensionless processing calculation method, which also transforms a dimensional expression into a dimensionless expression and becomes a scalar.
- generating the control instruction may be implemented by: first, according to the position variable and the direction variable of the current position, and the position variable and the direction variable of the predetermined position, Determining a navigation vector of the target device moving from the current position to the predetermined position, and normalizing the navigation vector to obtain a navigation vector after the normalization process, and secondly, obtaining the normalized navigation vector by formula calculation The angle value, finally, the control command is obtained according to the navigation vector and the angle value of the normalized navigation vector.
- the navigation vector of the target device moving from the current location to the predetermined location is calculated by the following formula:
- x t , y t are the position variables of the current position
- ⁇ t is the direction variable of the current position
- x tar is the position variable of the predetermined position
- ⁇ tar is the direction variable of the predetermined position
- F is the navigation vector
- p n represents the abscissa of the target pose vector p
- p m represents the ordinate of the target pose vector p.
- the navigation vector is normalized by the following method to obtain a normalized navigation vector:
- F n is a normalized navigation vector
- the angle value of the normalized navigation vector is calculated by the following formula: Where ⁇ is the angle value of the normalized navigation vector.
- control command is calculated by the following formula:
- a t for the target device control commands at time t v linear target device moving linear velocity, v angular target device movement angular velocity, x t, y t position variable as the target device
- ⁇ t is the target device
- the direction variable, ⁇ is the angle value of the normalized navigation vector.
- tanh is a hyperbolic tangent function
- k u , k w are preset control parameters, and the specific values are adjusted according to specific tasks; wherein k u is the linear velocity of the control target device, and k w is the control target The angular velocity of the device.
- the robot can be continuously guided to the predetermined position by the navigation vector with the direction, and the orientation of the robot tracking is consistent with the target. As shown in FIG. 7, under the action of the navigation vector, the robot will eventually Drive to the middle position as shown in Figure 7 and towards the right.
- FIG. 8 is a flow chart of steps of an optional trajectory tracking method according to an embodiment of the present invention. As shown in FIG. 8, the image is generated according to a current location and a predetermined location of the target device. After controlling the instructions, the method further includes:
- Step S602 converting the control command into a control signal
- Step S604 sending a control signal to the target device to control the target device to move according to the control signal.
- the controller may convert the control command into a control signal for controlling the motor in the robot, and send the control signal to the motor connected to the controller, and control the motor to perform a corresponding action.
- FIG. 9 is a flowchart of steps of an optional trajectory tracking method according to an embodiment of the present invention. As shown in FIG. 9, the trajectory tracking method may be adopted. The following steps are implemented:
- step S702 the initial track point s 0 in the target track S obj is preset as the initial sub-target s tar .
- Step S704 acquiring the current location of the robot.
- Step S706 calculating an Euler distance d between the current position and a predetermined position in the preset target trajectory.
- Step S708 determining the magnitude of the Euler distance d and the preset distance threshold dstep .
- step S712 If it is determined that the Euler distance d is greater than the preset distance threshold d step , the process proceeds to step S712 . If it is determined that the Euler distance d is less than or equal to the preset distance threshold d step , the process proceeds to step S710 .
- Step S710 selecting the next track point in the Sobj as the new sub-target s tar according to the order, and preset the Euler distance d>d step between the current position of the robot and the new sub-target; if s tar is already S obj The last point, s tar does not change.
- step S712 the control command a t is output according to a given control algorithm, and the robot executes the control command to run one step.
- the algorithm in the proposed trajectory tracking method can be continuously circulated unless the user forces control to jump out.
- the embodiment of the present invention further provides a trajectory tracking device. It should be noted that the method steps provided in the foregoing Embodiment 1 can be performed in the apparatus for generating a test script provided by the embodiment of the present invention.
- FIG. 10 is a schematic structural diagram of a trajectory tracking apparatus according to an embodiment of the present invention. As shown in FIG. 10, the apparatus includes the following modules: an obtaining module 10, a determining module 12, and a control module 14, wherein
- the obtaining module 10 is configured to acquire a current location of the target device; the determining module 12 is configured to determine the current bit Setting a distance from a predetermined position in the preset target trajectory and a preset distance threshold; the control module 14 is configured to determine, according to the target device, that the distance between the current position and the predetermined position is greater than a preset distance threshold
- the current position and the predetermined position generate a control command, wherein the control command includes the following information: angular velocity and linear velocity of the target device movement, and the control command is used to control the target device to move from the current position to the predetermined position according to the angular velocity and the linear velocity.
- the foregoing obtaining module 10, the determining module 12, and the control module 14 correspond to steps S102 to S106 in Embodiment 1, and the foregoing modules are the same as the examples and application scenarios implemented by the corresponding steps, but are not limited to the foregoing implementation.
- the content disclosed in Example 1. It should be noted that the above modules may be implemented as part of a device in a computer system such as a set of computer executable instructions.
- the foregoing obtaining module 10, the determining module 12, and the control module 14 may be run in a computer terminal as part of the device, and the functions implemented by the foregoing modules may be performed by a processor in the computer terminal, and the computer terminal may also be It is a smart phone (such as Android phone, iOS phone, etc.), tablet computer, applause computer, and mobile Internet devices (MID), PAD and other terminal devices.
- each of the foregoing modules may be implemented by software or hardware.
- the foregoing may be implemented by, but not limited to, the foregoing modules are located in the same processor; or Module bits are in any combination in different processors.
- the embodiment of the invention further provides a storage medium, which comprises a stored program, and the program performs any one of the optional or preferred trajectory tracking methods described above.
- the storage medium provided by the embodiment of the present invention is configured to store a program for performing the following functions: acquiring a current location of the target device; determining a distance between the current location and a predetermined location in the preset target trajectory and a preset distance threshold; When the distance between the current location and the predetermined location is greater than the preset distance threshold, a control command is generated according to the current location and the predetermined location of the target device, wherein the control command includes the following information: angular velocity and linear velocity of the target device movement, and the control command It is used to control the target device to move from the current position to the predetermined position according to the angular velocity and the linear velocity.
- the storage medium provided by the embodiment of the present invention is configured to store a program for performing the following function: if it is determined that the distance between the current location and the predetermined location is less than or equal to the preset distance threshold, determining a next predetermined location of the target trajectory, wherein the next predetermined The distance between the position and the current position is greater than a preset distance threshold, and the next predetermined position is a next position of the predetermined position; generating a control instruction according to the current position of the target device and the next predetermined position, wherein the control instruction is used to control the target device according to The angular velocity and the linear velocity are moved from the predetermined position to the next predetermined position.
- the storage medium provided by the embodiment of the present invention is configured to store a program that performs the following functions: acquiring a bit of a target device Set the variable and direction variables; determine the current position of the target device based on the position variable and the direction variable.
- the storage medium configured to store a program that performs the following functions: determining an initial trajectory point of the target trajectory as a predetermined position; acquiring a position variable and a directional variable of the predetermined position, wherein, according to the position variable and the direction variable of the target device And a position variable and a direction variable of the predetermined position, and determining a distance between the current position and a predetermined position in the preset target trajectory.
- the storage medium provided by the embodiment of the present invention is configured to store a program for performing a function of: determining a navigation vector of a target device moving from a current position to a predetermined position according to a position variable and a direction variable of a current position, and a position variable and a direction variable of a predetermined position; Normalizing the navigation vector to obtain the normalized navigation vector; obtaining the angle value of the normalized navigation vector; obtaining the control instruction according to the navigation vector and the angle value of the normalized navigation vector .
- x t , y t are the position variables of the current position
- ⁇ t is the direction variable of the current position
- x tar is the position variable of the predetermined position
- ⁇ tar is the direction variable of the predetermined position
- F is the navigation vector
- p n represents the abscissa of the target pose vector p
- p m represents the ordinate of the target pose vector p.
- the storage medium provided by the embodiment of the present invention is configured to store a program that performs the following functions: normalizing the navigation vector by: obtaining a normalized navigation vector:
- F n is a normalized navigation vector
- the storage medium provided by the embodiment of the present invention is used to store a program that performs the following functions: the angle value of the normalized navigation vector is calculated by the following formula: Where ⁇ is the angle value of the normalized navigation vector.
- the storage medium provided by the embodiment of the present invention is used to store a program that performs the following functions:
- the control instruction is calculated by the following formula:
- a t for the target device control commands at time t v linear target device moving linear velocity, v angular target device movement angular velocity, x t, y t position variable as the target device
- ⁇ t is the target device
- the direction variable, ⁇ is the angle value of the normalized navigation vector.
- tanh is a hyperbolic tangent function
- k u , k w are preset control parameters, where k u is the linear velocity of the control target device, and k w is the angular velocity of the control target device.
- the storage medium provided by the embodiment of the present invention is configured to store a program that performs the following functions: after generating a control instruction according to a current location and a predetermined position of the target device, the method further includes: converting the control instruction into a control signal; and transmitting the control signal to the target The device controls the target device to move according to the control signal.
- the embodiment of the invention further provides a processor, wherein the processor is configured to execute a program, wherein the program runs any one of the optional or preferred trajectory tracking methods described above.
- the processor provided by the embodiment of the present invention is configured to run a program that performs the following functions: acquiring a current location of the target device; determining a distance between the current location and a predetermined location in the preset target trajectory and a preset distance threshold; The distance between the current position and the predetermined position is greater than the preset distance threshold, and the control command is generated according to the current position and the predetermined position of the target device, wherein the control command includes the following information: angular velocity and linear velocity of the target device, and the control command is used.
- the control target device moves from the current position to the predetermined position according to the angular velocity and the linear velocity.
- the processor provided by the embodiment of the present invention is configured to run a program for performing the following function: if it is determined that the distance between the current location and the predetermined location is less than or equal to the preset distance threshold, determining a next predetermined location of the target trajectory, wherein the next predetermined location The distance from the current position is greater than a preset distance threshold, and the next predetermined position is a next position of the predetermined position; a control command is generated according to the current position of the target device and the next predetermined position, wherein the control command is used to control the target device according to the angular velocity And the line speed, moving from the predetermined position to the next predetermined position.
- the processor provided by the embodiment of the present invention is configured to execute a program that performs the following functions: acquiring a position variable and a direction variable of the target device; and determining a current position of the target device according to the position variable and the direction variable.
- the processor provided by the embodiment of the present invention is configured to run a program for: determining an initial track point of a target track as a predetermined position; acquiring a position variable and a direction variable of the predetermined position, wherein, according to the position variable and the direction variable of the target device, And a position variable and a direction variable of the predetermined position to determine the current position and the preset The distance from the predetermined position in the specified target trajectory.
- the processor provided by the embodiment of the present invention is configured to execute a program for performing a function of: determining a navigation vector of a target device moving from a current position to a predetermined position according to a position variable and a direction variable of a current position, and a position variable and a direction variable of the predetermined position;
- the navigation vector is normalized to obtain a normalized navigation vector; the angle value of the normalized navigation vector is obtained; and the control instruction is obtained according to the navigation vector and the angle value of the normalized navigation vector.
- x t , y t are the position variables of the current position
- ⁇ t is the direction variable of the current position
- x tar is the position variable of the predetermined position
- ⁇ tar is the direction variable of the predetermined position
- F is the navigation vector
- p n represents the abscissa of the target pose vector p
- p m represents the ordinate of the target pose vector p.
- the processor provided by the embodiment of the present invention is configured to run a program that performs the following functions: normalizing the navigation vector by: obtaining a normalized navigation vector:
- F n is a normalized navigation vector
- the processor provided by the embodiment of the present invention is configured to run a program that performs the following functions: the angle value of the normalized navigation vector is calculated by the following formula: Where ⁇ is the angle value of the normalized navigation vector.
- the processor provided by the embodiment of the present invention is configured to run a program that performs the following functions: the control instruction is calculated by the following formula:
- a t for the target device control commands at time t v linear target device moving linear velocity, v angular target device movement angular velocity, x t, y t position variable as the target device
- ⁇ t is the target device
- the direction variable, ⁇ is the angle value of the normalized navigation vector.
- tanh is a hyperbolic tangent function
- k u , k w are preset control parameters, where k u is the linear velocity of the control target device, and k w is the angular velocity of the control target device.
- the processor provided by the embodiment of the present invention is configured to run a program that performs the following functions: converting a control instruction into a control signal; and transmitting a control signal to the target device to control the target device to move according to the control signal.
- the disclosed technical contents may be implemented in other manners.
- the device embodiments described above are only schematic.
- the division of the unit may be a logical function division.
- there may be another division manner for example, multiple units or components may be combined or may be Integrate into another system, or some features can be ignored or not executed.
- the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, unit or module, and may be electrical or otherwise.
- the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.
- each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.
- the above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.
- the integrated unit if implemented in the form of a software functional unit and sold or used as a standalone product, may be stored in a computer readable storage medium.
- the technical solution of the present invention which is essential or contributes to the prior art, or all or part of the technical solution, may be embodied in the form of a software product stored in a storage medium.
- a number of instructions are included to cause a computer device (which may be a personal computer, server or network device, etc.) to perform all or part of the steps of the methods described in various embodiments of the present invention.
- the foregoing storage medium includes: a U disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk, and the like. .
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Abstract
Description
Claims (13)
- 一种轨迹跟踪方法,包括:获取目标设备的当前位置;判断所述当前位置与预先设定的目标轨迹中预定位置的距离与预设距离阀值的大小;若判断出所述当前位置与所述预定位置的距离大于所述预设距离阀值,则根据所述目标设备的当前位置和所述预定位置,生成控制指令,其中,所述控制指令包括有以下信息:所述目标设备移动的角速度和线速度,所述控制指令用于控制所述目标设备根据所述角速度和所述线速度,从所述当前位置移动至所述预定位置。
- 根据权利要求1所述的方法,其中,在判断所述当前位置与预先设定的目标轨迹中预定位置的距离与预设距离阀值的大小之后,所述方法还包括:若判断出所述当前位置与所述预定位置的距离小于等于所述预设距离阀值,则确定所述目标轨迹的下一预定位置,其中,所述下一预定位置与所述当前位置的距离大于所述预设距离阀值,所述下一预定位置为所述预定位置的下一个位置;根据所述目标设备的当前位置和所述下一预定位置生成所述控制指令,其中,所述控制指令用于控制所述目标设备根据所述角速度和所述线速度,从所述当前位置移动至所述下一预定位置。
- 根据权利要求1所述的方法,其中,获取目标设备的当前位置,包括:获取所述目标设备的位置变量和方向变量;根据所述位置变量和所述方向变量,确定所述目标设备的当前位置。
- 根据权利要求3所述的方法,其中,在所述预定位置为所述目标轨迹的初始轨迹点的情况下,在判断所述当前位置与预先设定的目标轨迹中预定位置的距离与预设距离阀值的大小之前,所述方法还包括:将所述目标轨迹的初始轨迹点确定为所述预定位置;获取所述预定位置的位置变量和方向变量,其中,根据所述目标设备的位置变量和方向变量,以及所述预定位置的位置变量和方向变量,确定所述当前位置与预先设定的目标轨迹中预定位置的距离。
- 根据权利要求4所述的方法,其中,根据所述目标设备的当前位置和所述预定位置,生成控制指令,包括:根据所述当前位置的位置变量和方向变量,以及所述预定位置的位置变量和方向变量,确定所述目标设备从所述当前位置移动至所述预定位置的导航向量;归一化处理所述导航向量,得到归一化处理后的导航向量;获取所述归一化处理后的导航向量的角度值;根据所述导航向量和所述归一化处理后的导航向量的角度值,得到所述控制指令。
- 根据权利要求1至9中任意一项所述的方法,其中,在根据所述目标设备的当前位置和所述预定位置,生成控制指令之后,所述方法还包括:将所述控制指令转换为控制信号;发送所述控制信号至所述目标设备,以控制所述目标设备根据所述控制信号移动。
- 一种轨迹跟踪装置,包括:获取模块,设置为获取目标设备的当前位置;判断模块,设置为判断所述当前位置与预先设定的目标轨迹中预定位置的距离与预设距离阀值的大小;控制模块,设置为若判断出所述当前位置与所述预定位置的距离大于所述预设距离阀值,则根据所述目标设备的当前位置和所述预定位置,生成控制指令,其中,所述控制指令包括有以下信息:所述目标设备移动的角速度和线速度,所述控制指令用于控制所述目标设备根据所述角速度和所述线速度,从所述当前位置移动至所述预定位置。
- 一种存储介质,所述存储介质包括存储的程序,其中,所述程序执行权利要求1至10中任意一项所述的轨迹跟踪方法。
- 一种处理器,所述处理器用于运行程序,其中,所述程序运行时执行权利要求1至10中任意一项所述的轨迹跟踪方法。
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