CN106272433B - The track location system and method for autonomous mobile robot - Google Patents
The track location system and method for autonomous mobile robot Download PDFInfo
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- CN106272433B CN106272433B CN201610860722.3A CN201610860722A CN106272433B CN 106272433 B CN106272433 B CN 106272433B CN 201610860722 A CN201610860722 A CN 201610860722A CN 106272433 B CN106272433 B CN 106272433B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40519—Motion, trajectory planning
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- Mechanical Engineering (AREA)
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- Orthopedic Medicine & Surgery (AREA)
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Abstract
The embodiment of the invention discloses a kind of track location system of autonomous mobile robot and methods.The system comprises: obliquity sensor, for measuring the course angle of the autonomous mobile robot；Omnidirectional's turns encoder, for measuring the displacement of the autonomous mobile robot, and in default angle between the setting direction of the omni-directional wheel and the direction of travel of the autonomous mobile robot；Processor, for obtaining corresponding positional increment, and mobile according to the position that the positional increment drive motor proceeds through compensation by the way that the position to be compared with target position；Motor, the position for proceeding through compensation under the driving of the processor are mobile.The track location system and method for autonomous mobile robot provided in an embodiment of the present invention significantly improve the kinematic accuracy of autonomous mobile robot.
Description
Technical field
The present embodiments relate to a kind of positioning of the track of robotic technology field more particularly to autonomous mobile robot to be
System and method.
Background technique
In industry manufacture, robot has been achieved for many great achievements, and for example mechanical arm is in automobile, electronics industry
And have successful application in medical industry.But these business machines people have the shortcomings that one it is basic: lack mobility.Gu
Its motion range of fixed mechanical arm is limited, and opposite autonomous mobile robot can neatly shuttle in entire operating area.
For autonomous mobile robot, being precisely located with TRAJECTORY CONTROL is the key that improve its transaction capabilities.From
Main mobile robot can deviate the path of initial planning under the influence of by factors such as external disturbance, friction and pavement roughnesses,
It needs that autonomous mobile robot is positioned and rectified a deviation in real time thus.
Summary of the invention
In view of the above technical problems, the embodiment of the invention provides a kind of track location system of autonomous mobile robot and
Method, to improve the kinematic accuracy of autonomous mobile robot.
On the one hand, the embodiment of the invention provides a kind of track location system of autonomous mobile robot, the system packets
It includes:
Obliquity sensor is arranged on the front end face of the autonomous mobile robot, for measuring the autonomous machine
The course angle of device people；
Omnidirectional's turns encoder, an incremental encoder are associated with the omni-directional wheel being arranged on bottom surface, form an omni-directional wheel
Encoder, for measuring the displacement of the autonomous mobile robot, and the setting direction of the omni-directional wheel and described autonomous
In default angle between the direction of travel of mobile robot；
Processor is electrically connected with the obliquity sensor and omnidirectional's turns encoder, for being sensed according to the inclination angle
The displacement that the course angle and omnidirectional's turns encoder measurement that device measurement obtains obtain, determines the autonomous machine
The current position of people, and by the way that the position to be compared with target position, corresponding position is obtained according to Motion Controlling Model
Increment is set, and mobile according to the position that the positional increment drive motor proceeds through compensation；
Motor, the position for proceeding through compensation under the driving of the processor are mobile.
On the other hand, the embodiment of the invention also provides a kind of track localization method of autonomous mobile robot, the sides
Method includes:
It is in respectively predetermined angle theta with the direction of travel of the autonomous mobile robot according to two1, θ2The omni-directional wheel of arrangement
The reading Δ U of coding1, Δ U2, determine position x, the y of the autonomous mobile robot, while true according to the reading of obliquity sensor
The course angle θ of the fixed autonomous mobile robot；
By the current location (x, y, θ) of the autonomous mobile robot and ideal position (xγ,yγ,θγ) be compared, it obtains
To the trajector deviation (Δ x, Δ y, Δ θ) of the autonomous mobile robot；
Based on Lyapunov stability criterion, foundation makes the convergent Motion Controlling Model of trajectory error, inclined to the track
Poor (Δ x, Δ y, Δ θ) is compensated.
The track location system and method for autonomous mobile robot provided in an embodiment of the present invention, pass through the row with robot
Into the setting omni-directional wheel of direction at an angle, omnidirectional's turns encoder of ranging, and setting are used for for omni-directional wheel setting
For measuring the obliquity sensor of course angle, the place being electrically connected with above-mentioned omnidirectional's turns encoder and obliquity sensor is being utilized
Device is managed, is enabled a processor to scheduled according to the reading of above-mentioned omni-directional wheel encoder output and the obliquity sensor, utilization
Estimate displacement compensation amount in the inclination angle of Motion Controlling Model output, hence it is evident that improve the kinematic accuracy of autonomous mobile robot.
Detailed description of the invention
By reading a detailed description of non-restrictive embodiments in the light of the attached drawings below, of the invention other
Feature, objects and advantages will become more apparent upon:
Fig. 1 is the structure chart of the track location system for the autonomous mobile robot that first embodiment of the invention provides；
Fig. 2 is the schematic diagram in the arrangement orientation for the omni-directional wheel that first embodiment of the invention provides；
Fig. 3 A is the comparison diagram for the X-axis positioning accuracy that first embodiment of the invention provides；
Fig. 3 B is the comparison diagram for the Y-axis positioning accuracy that first embodiment of the invention provides；
Fig. 4 is the comparison diagram of the kinematic accuracy for the autonomous mobile robot that first embodiment of the invention provides；
Fig. 5 is the flow chart of the track localization method for the autonomous mobile robot that second embodiment of the invention provides；
Fig. 6 is that parameter determines operation in the track localization method for the autonomous mobile robot that third embodiment of the invention provides
Flow chart；
Fig. 7 is the stream of compensating operation in the track localization method for the autonomous mobile robot that fourth embodiment of the invention provides
Cheng Tu；
Fig. 8 is the relation schematic diagram between global coordinate system and local coordinate system that fourth embodiment of the invention provides.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention rather than limiting the invention.It also should be noted that in order to just
Only the parts related to the present invention are shown in description, attached drawing rather than entire infrastructure.
First embodiment
Present embodiments provide a kind of technical solution of the track location system of autonomous mobile robot.In the technical solution
In, the track location system of the autonomous mobile robot includes: obliquity sensor 11, omnidirectional's turns encoder 12, processor 13,
And motor 14.
Referring to Fig. 1, the obliquity sensor 11 is used to measure the course angle of the autonomous mobile robot.Specifically, institute
It states obliquity sensor 11 and directly measures the dynamic roll angle and pitch angle that obtained physical quantity is the autonomous mobile robot.Root
The dynamic roll angle and pitch angle are obtained according to the obliquity sensor 11 measurement, is directly electrically connected with the obliquity sensor 11
The processor 13 can directly determine the course angle of the autonomous mobile robot.
Preferably, the obliquity sensor 11 is arranged on the front end face of the autonomous mobile robot.
Omnidirectional's turns encoder 12 is associated with the omni-directional wheel on the bottom surface that the autonomous mobile robot is arranged in.Institute
The quantity for stating the omni-directional wheel being arranged on the bottom surface of autonomous mobile robot is two, and therefore, the autonomous mobile robot is wrapped
The quantity of the omnidirectional's turns encoder 12 contained is also two.The effect of omnidirectional's turns encoder is to measure the autonomous machine
The displacement of device people.
In order to improve the positioning accuracy of the autonomous mobile robot, the omni-directional wheel is set in a kind of special mode
On the bottom surface of the autonomous mobile robot.Fig. 2 shows this special set-up modes.Referring to fig. 2, in the autonomous shifting
Driving wheel (rear-wheel) 21, universal wheel (front-wheel) 24 and omni-directional wheel 22 are provided on the bottom surface of mobile robot.And described complete
Also association is provided with omnidirectional's turns encoder 23 on wheel.The setting direction of the omni-directional wheel 22 and the autonomous mobile robot
It is a certain included angle between direction of travel.Also, the value of above-mentioned angle is greater than 0 °, less than 90 °.That is, the omnidirectional
Angle at an acute angle between the setting direction of wheel 22 and the direction of travel of the autonomous mobile robot.In other words, the omni-directional wheel
22 no longer as previous set-up mode, parallel with the direction of travel of robot or be vertically arranged.
Since the omni-directional wheel can be rolled along two freedom degree directions, above-mentioned omni-directional wheel setting at an angle
Mode will not hinder the movement of the autonomous mobile robot.Also, it is preferred that, omnidirectional's turns encoder is incremental encoding
Device.
In addition, B indicates the half of distance between Liang Ge omnidirectional turns encoder in above-mentioned Fig. 2, L indicates that omni-directional wheel is compiled
Distance of the code device axis to robotically-driven wheel axis.
The processor 13 is electrically connected with the obliquity sensor 11 and omnidirectional's turns encoder 12 respectively.The processing
The dynamic roll angle and pitch angle and omnidirectional's turns encoder 12 that device 13 is measured according to the obliquity sensor 11 measure
Obtained displacement, calculates the positional increment of presently described autonomous mobile robot, namely to the autonomous mobile robot into
Row positioning.Further, the autonomous mobile robot being calculated also is currently located by the processor 13 position with
Target position is compared, to obtain corresponding position compensation amount.
More specifically, it can be provided by following formula along x-axis and along the positional increment of y-axis:
Wherein, θ1For the angle between the setting direction and the direction of travel of the first omni-directional wheel, θ2For the second omni-directional wheel
Angle between setting direction and the direction of travel, L are distance of the omni-directional wheel encoder axis to robotically-driven wheel axis,
The half of B distance between Liang Ge omnidirectional turns encoder, Δ U1For the reading increment of first omnidirectional's turns encoder, Δ U2It is second
The reading increment of omnidirectional's turns encoder, δ x are positional increment of the robot in the x-axis direction of predetermined plane rectangular coordinate system, δ y
For positional increment of the robot on the y-axis direction of the predetermined plane rectangular coordinate system, δ θ is the course angle increment of robot.
Specifically, above-mentioned θ1And θ2Value be all 45 °.
After positional increment has been determined, the position where the autonomous mobile robot is compared with target position
Compared with to determine position compensation amount according to given Motion Controlling Model.Moreover, the Motion Controlling Model is according to Liapunov
Stability criterion is determined as Uniformly stable.That is, being intended to restrain according to the trajectory error that the Motion Controlling Model determines.
Specifically, calculating tangential error e using following formula after positional increment has been determinedt, radial error en, and
Angular error eθ:
Wherein, θ is the course angle of the autonomous mobile robot.
After above-mentioned error vector has been determined, the speed and angular speed of motor are determined according to following Motion Controlling Model:
Wherein, vrAnd ωrFor ideal speed and angular speed, v and ω are the speed and angular speed of actual correction.
After the direction of travel of the omni-directional wheel 22 and the autonomous mobile robot is arranged at an angle, according to
The data precision of the positional increment of the positional increment and y-axis direction for the x-axis direction that formula provided in this embodiment is calculated is all
It greatly improves.Fig. 3 A and Fig. 3 B be shown respectively under the different set-up modes of omni-directional wheel, the comparison of the positional increment of x-axis direction
The comparison figure of the positional increment in figure and y-axis direction.In the test of the data shown in acquisition Fig. 3 A and Fig. 3 B, by described in certainly
Autonomous mobile robot described in main mobile robot moves upwards 3.5 meters with 300mm/s, then retreats correcting action.?
In set-up mode one, the traffic direction of two omni-directional wheels and the robot of the autonomous mobile robot is arranged in parallel, and
Under set-up mode two, two omni-directional wheels of the autonomous mobile robot are set with the traffic direction of robot in 45 ° of angles respectively
It sets.By Fig. 3 A and Fig. 3 B, it is apparent that the omni-directional wheel is arranged at an angle after, the x-axis direction that is calculated
And the data precision of the positional increment on y-axis direction is higher.
The motor 14 is electrically connected with the processor 13, and the driving signal for being exported according to the processor 13 is driven
It moves the autonomous mobile robot and compensates displacement.More specifically, the motor 14 is used for according to the driving signal
In include position compensation amount compensate displacement, to be compensated to displacement error before.
After the direction of travel of omni-directional wheel and the autonomous mobile robot is arranged at an angle, it is calculated
Influence of the positional increment to factors such as external disturbance, friction and pavement roughnesses more robust, and due to the position to robot
It sets error to be compensated, it is thus possible to greatly improve the kinematic accuracy of autonomous mobile robot.Referring to fig. 4, it is missed to position
After difference compensates, the location error of the autonomous mobile robot is greatly reduced.
The present embodiment measures course angle by obliquity sensor, distance is measured by omnidirectional's turns encoder, according to above-mentioned boat
The autonomous mobile robot is positioned to angle and distance, and according to the current position of the autonomous mobile robot with
Difference between target position carries out position compensation, to substantially increase the kinematic accuracy of autonomous mobile robot.
Second embodiment
Present embodiments provide a kind of technical solution of the track localization method of autonomous mobile robot.In the technical solution
In, the track localization method of the autonomous mobile robot includes: according to two rows with the autonomous mobile robot respectively
It is in predetermined angle theta into direction1, θ2The reading Δ U of the omni-directional wheel coding of arrangement1, Δ U2, determine the autonomous mobile robot
Position x, y, while according to the course angle θ of the determining autonomous mobile robot of the reading of obliquity sensor；By the autonomous shifting
The current location (x, y, θ) of mobile robot and ideal position (xγ,yγ,θγ) be compared, obtain the autonomous mobile robot
Trajector deviation (Δ x, Δ y, Δ θ)；Based on Lyapunov stability criterion, foundation makes the convergent motion control mould of trajectory error
Type compensates the trajector deviation (Δ x, Δ y, Δ θ).
Referring to Fig. 5, the track localization method of the autonomous mobile robot includes:
S51 is in respectively predetermined angle theta with the direction of travel of the autonomous mobile robot according to two1, θ2That arranges is complete
To the reading Δ U of wheel coding1, Δ U2, determine position x, the y of the autonomous mobile robot, while according to the reading of obliquity sensor
Number determines the course angle θ of the autonomous mobile robot.
In the reading Δ U for getting omnidirectional's turns encoder1And Δ U2, and get the obliquity sensor acquisition
After the course angle θ arrived, positional increment of the autonomous mobile robot in period Δ t is calculated according to the following formula first
δ x, δ y:
Wherein, θ1For the angle between the setting direction and the direction of travel of the first omni-directional wheel, θ2For the second omni-directional wheel
Angle between setting direction and the direction of travel, L are distance of the omni-directional wheel encoder axis to robotically-driven wheel axis,
The half of B distance between Liang Ge omnidirectional turns encoder, Δ U1For the reading increment of first omnidirectional's turns encoder, Δ U2It is second
The reading increment of omnidirectional's turns encoder, δ x are positional increment of the robot in the x-axis direction of predetermined plane rectangular coordinate system, δ y
For positional increment of the robot on the y-axis direction of the predetermined plane rectangular coordinate system, δ θ is the course angle increment of robot.
After positional increment δ x, the δ y in period Δ t has been determined, institute is obtained by the integral to above-mentioned positional increment
State the current location x of autonomous mobile robot, y.
S52, by the current location (x, y, θ) of the autonomous mobile robot and ideal position (xγ,yγ,θγ) compared
Compared with obtaining the trajector deviation (Δ x, Δ y, Δ θ) of the autonomous mobile robot.
Specifically, calculating the trajector deviation of the autonomous mobile robot according to following several formula:
Δ x=xr-x
Δ y=yr-y
Δ θ=θr-θ
And then obtain tangential, radial direction and angular error of the autonomous mobile robot under local coordinate system:
S53 is based on Lyapunov stability criterion, and foundation keeps the convergent Motion Controlling Model of trajectory error as follows, to institute
Trajector deviation (Δ x, Δ y, Δ θ) is stated to compensate.
Wherein, vrAnd ωrFor ideal speed and angular speed, v and ω are the speed and angular speed after actual correction.
Based on the Motion Controlling Model, k is enabled1=k3=2 ζ a and k2=(a2-ω2)/vr, available following linearisation mistake
The dynamical equation of difference:
Then the characteristic equation of matrix A (t) can be written as:
P (λ)=(+2 ζ a of λ) (λ2+2ζaλ+a2)
Take a andFor positive value, then the root of characteristic equation all has negative real part, according to Lyapunov stability criterion, the control
Method is asymptotically stability.
Specifically, according to the Motion Controlling Model, it is practical to autonomous mobile robot based on trajector deviation amendment
The speed and angular speed issued finally recalculates the revolving speed of left and right wheels and is handed down to motor.
The present embodiment with the direction of travel of the autonomous mobile robot in predetermined angle by arranging respectively according to two
Omni-directional wheel coding reading, determine the position of the autonomous mobile robot, while determining according to the reading of obliquity sensor
The current location of the autonomous mobile robot is compared by the course angle of the autonomous mobile robot with ideal position,
The trajector deviation of the autonomous mobile robot is obtained, and is based on Lyapunov stability criterion, foundation receives trajectory error
The Motion Controlling Model held back compensates the trajector deviation, hence it is evident that improves the kinematic accuracy of autonomous mobile robot.
3rd embodiment
The present embodiment further provides the rail of the autonomous mobile robot based on the above embodiment of the present invention
Parameter determines a kind of technical solution of operation in mark localization method.In the technical scheme, according to two respectively with it is described autonomous
The direction of travel of mobile robot is in predetermined angle theta1, θ2The reading Δ U of the omni-directional wheel coding of arrangement1, Δ U2, determine it is described from
Position x, the y of main mobile robot, while according to the course angle θ of the determining autonomous mobile robot of the reading of obliquity sensor
It include: that plane right-angle coordinate is established to the autonomous mobile robot；In real time read two omnidirectional's turns encoders and
Numerical value increment of the obliquity sensor in period Δ t, is recorded as Δ U respectively1, Δ U2And δ θ；It is compiled according to the omni-directional wheel
The reading of code device, calculates the autonomous mobile robot in period Δ t in the X-axis and Y-axis of the plane right-angle coordinate
Positional increment δ x, the δ y of upper difference；By the integral to positional increment δ x, the δ y, the autonomous mobile robot is obtained
Current location x, y, while the current course angle θ of the autonomous mobile robot is determined according to the reading of the obliquity sensor.
Referring to Fig. 6, according to two respectively with the direction of travel of the autonomous mobile robot in the complete of predetermined angle arrangement
To the reading of wheel coding, the position of the autonomous mobile robot is determined, while according to the determination of the reading of obliquity sensor
The course angle of autonomous mobile robot includes:
S61 establishes plane right-angle coordinate to the autonomous mobile robot.
Although plane of movement where the autonomous mobile robot it sometimes appear that the case where out-of-flatness, it is big
Shape in cause is in smooth plane.In order to accurately describe the position of the autonomous mobile robot, for the fortune
Dynamic plane, pre-establishes a plane right-angle coordinate.After establishing above-mentioned plane right-angle coordinate, the autonomous
The position of robot can accurately be described with the location point in the plane right-angle coordinate.
S62 reads the numerical value of two omnidirectional's turns encoders and the obliquity sensor in period Δ t in real time
Increment is recorded as Δ U respectively1, Δ U2And δ θ.
Wherein, Δ U1It is the positional increment of the first omni-directional wheel encoder output in Liang Ge omnidirectional turns encoder, and Δ U2Then
It is the positional increment of the second omni-directional wheel encoder output.δ θ is the increment of the angular values of the obliquity sensor output.
S63, according to the reading of omnidirectional's turns encoder, calculate the autonomous mobile robot in period Δ t
Positional increment δ x, δ y in the x-axis and y-axis of the plane right-angle coordinate respectively.
Specifically, calculating the positional increment δ of the autonomous mobile robot in x-axis and y-axis respectively according to the following formula
X, δ y:
Wherein, θ1For the angle between the setting direction and the direction of travel of the first omni-directional wheel, θ2For the second omni-directional wheel
Angle between setting direction and the direction of travel, L are distance of the omni-directional wheel encoder axis to robotically-driven wheel axis,
The half of B distance between Liang Ge omnidirectional turns encoder, Δ U1For the reading increment of first omnidirectional's turns encoder, Δ U2It is second
The reading increment of omnidirectional's turns encoder, δ x are positional increment of the robot in the x-axis direction of predetermined plane rectangular coordinate system, δ y
For positional increment of the robot on the y-axis direction of the predetermined plane rectangular coordinate system, δ θ is the course angle increment of robot.
S64 obtains the current location x of the autonomous mobile robot by the integral to positional increment δ x, the δ y,
Y, while the current course angle θ of the autonomous mobile robot is determined according to the reading of the obliquity sensor.
For the present embodiment by establishing plane right-angle coordinate to the autonomous mobile robot, reading two in real time is described complete
To the numerical value increment of turns encoder and the obliquity sensor in period Δ t, according to the reading of omnidirectional's turns encoder
Number calculates what the autonomous mobile robot was distinguished in the x-axis and y-axis of the plane right-angle coordinate in period Δ t
Positional increment obtains the current location of the autonomous mobile robot by the integral to the positional increment, while according to institute
The reading for stating obliquity sensor determines the current course angle of the autonomous mobile robot, realizes to the autonomous machine
The positioning of people.
Fourth embodiment
The present embodiment further provides the rail of the autonomous mobile robot based on the above embodiment of the present invention
A kind of technical solution of compensating operation in mark localization method.In the technical scheme, it is based on Lyapunov stability criterion, is established
Make the convergent Motion Controlling Model of trajectory error, compensating to the trajector deviation includes: by the autonomous mobile robot
Under the local coordinate system that the trajectory error under global coordinate system is transformed into the autonomous mobile robot, obtain tangential error,
Normal error and angular error；Based on Lyapunov stability criterion, foundation makes the convergent Motion Controlling Model of trajectory error,
The practical speed issued to the autonomous mobile robot of amendment and angular speed；Movement life is executed according to the Motion Controlling Model
It enables, recalculates the revolving speed of left and right sidesing driving wheel and be handed down to motor.
Referring to Fig. 7, it is based on Lyapunov stability criterion, foundation makes the convergent Motion Controlling Model of trajectory error, to institute
It states trajector deviation and compensates and include:
Trajectory error of the autonomous mobile robot under global coordinate system is transformed into the autonomous machine by S71
Under the local coordinate system of device people, tangential error, normal error and angular error are obtained.
Fig. 8 shows global coordinate system (xG,yG) and local coordinate system (xR,yR) between positional relationship.Referring to Fig. 8, institute
Stating global coordinate system is the plane right-angle coordinate established on the plane of movement of the autonomous mobile robot.The coordinate system
Original point position simultaneously changes not based on the position of the autonomous mobile robot.Although the local coordinate and in the movement
The plane right-angle coordinate established in plane, but its coordinate origin is the fixed position point on the autonomous mobile robot,
And its xRThe direction of axis is subject to the traffic direction of the autonomous mobile robot.
Due to will according to the trajectory error being calculated under the global coordinate system, to the autonomous mobile robot into
The action control of row next step, needing to be converted to above-mentioned absolute trajectory error can be directly used for the autonomous machine
The control amount that device people is controlled, therefore, it is necessary to convert the trajectory error to the local coordinate system.In above-mentioned conversion
In, other than being translated to original coordinate value, it is also necessary to further be rotated to coordinate value.
S72 is based on Lyapunov stability criterion, and foundation makes the convergent Motion Controlling Model of trajectory error, and amendment is practical
The speed and angular speed issued to the autonomous mobile robot.
Specifically, the Motion Controlling Model has following form:
Wherein, vrAnd ωrFor ideal speed and angular speed, the speed and angular speed of v and ω for actual correction, et、en、eθ
Respectively indicate tangential error, radial error and angular error.
S73 executes motion command according to the Motion Controlling Model, recalculates the revolving speed of left and right sidesing driving wheel and be handed down to
Motor.
After having modified speed and angular speed, left driving wheel and the right side can be calculated according to revised speed and angular speed
The revolving speed of driving wheel, then according to the revolving speed drive motor recalculated, make the autonomous mobile robot according to revised
It is mobile that speed and angular speed carry out position.
The present embodiment by by trajectory error of the autonomous mobile robot under global coordinate system be transformed into it is described from
Under the local coordinate system of main mobile robot, tangential error, normal error and angular error are obtained, it is steady based on Liapunov
Determine criterion, foundation makes the convergent Motion Controlling Model of trajectory error, the practical speed issued to the autonomous mobile robot of amendment
Degree and angular speed, and according to the Motion Controlling Model execute motion command, recalculate the revolving speed of left and right sidesing driving wheel and under
Motor is issued, the position through overcompensation for realizing autonomous mobile robot is mobile, significantly improves the movement of robot
Precision.
The above description is only a preferred embodiment of the present invention, is not intended to restrict the invention, for those skilled in the art
For, the invention can have various changes and changes.All any modifications made within the spirit and principles of the present invention are equal
Replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (5)
1. a kind of track location system of autonomous mobile robot characterized by comprising
Obliquity sensor is arranged on the front end face of the autonomous mobile robot, for measuring the autonomous mobile robot
Course angle；
Omnidirectional's turns encoder, an incremental encoder is associated with the omni-directional wheel being arranged on bottom surface, forms an omni-directional wheel and compiles
Code device, for measuring the displacement of the autonomous mobile robot, and the setting direction of the omni-directional wheel and the autonomous shifting
In default angle between the direction of travel of mobile robot；
Processor is electrically connected with the obliquity sensor and omnidirectional's turns encoder, for being surveyed according to the obliquity sensor
The displacement that the course angle and omnidirectional's turns encoder measurement measured obtains, determines that the autonomous mobile robot is worked as
Preceding position, and by the way that the position to be compared with target position, corresponding position is obtained according to Motion Controlling Model and is mended
The amount of repaying, and it is mobile according to the position that the position compensation amount drive motor proceeds through compensation；
Motor, the position for proceeding through compensation under the driving of the processor are mobile；
Omnidirectional's turns encoder includes: two omnidirectional's turns encoders being independently arranged；
Omnidirectional's turns encoder includes: incremental encoder and omni-directional wheel；
The Motion Controlling Model is provided by following formula:
Wherein, vrAnd ωrFor ideal speed and angular speed, the speed and angular speed of v and ω for actual correction, etTangentially to miss
Difference, enFor radial error, eθFor angular error；
It can be provided by following formula along x-axis and along the positional increment of y-axis:
θ1For the angle between the setting direction and the direction of travel of the first omni-directional wheel, θ2For the setting direction of the second omni-directional wheel
With the angle between the direction of travel, L is distance of the omni-directional wheel encoder axis to robotically-driven wheel axis, and B is two
The half of distance between omnidirectional's turns encoder, Δ U1For the reading increment of first omnidirectional's turns encoder, Δ U2For the second omni-directional wheel volume
The reading increment of code device, δ x are positional increment of the robot in the x-axis direction of predetermined plane rectangular coordinate system, and δ y is robot
Positional increment on the y-axis direction of the predetermined plane rectangular coordinate system, δ θ are the course angle increment of robot.
2. system according to claim 1, which is characterized in that the obliquity sensor measures institute using inertial navigation technology
The dynamic roll angle and pitch angle for stating autonomous mobile robot are converted the roll angle of obliquity sensor by reasonably installing
For the course angle of the autonomous mobile robot.
3. system according to claim 1, which is characterized in that the value of the default angle is greater than 0 °, less than 90 °.
4. a kind of track localization method of autonomous mobile robot characterized by comprising
Plane right-angle coordinate is established to the autonomous mobile robot；
Reading two in real time respectively is in predetermined angle theta with the direction of travel of the autonomous mobile robot1, θ2The omni-directional wheel of arrangement
The numerical value increment of encoder and obliquity sensor in period Δ t, is recorded as Δ U respectively1, Δ U2And δ θ；
According to the reading of omnidirectional's turns encoder, the autonomous mobile robot is calculated in period Δ t in the plane
Positional increment δ x, δ y in the x-axis and y-axis of rectangular coordinate system respectively；
By the integral to positional increment δ x, the δ y, current location x, the y of the autonomous mobile robot, while root are obtained
The current course angle θ of the autonomous mobile robot is determined according to the reading of the obliquity sensor；
By the current location (x, y, θ) of the autonomous mobile robot and ideal position (xγ,yγ,θγ) be compared, obtain institute
State the trajector deviation (Δ x, Δ y, Δ θ) of autonomous mobile robot；
Based on Lyapunov stability criterion, foundation makes the convergent Motion Controlling Model of trajectory error, to the trajector deviation (Δ
X, Δ y, Δ θ) it compensates.
5. according to the method described in claim 4, foundation misses track it is characterized in that, being based on Lyapunov stability criterion
The convergent Motion Controlling Model of difference, compensates the trajector deviation and includes:
Trajectory error of the autonomous mobile robot under global coordinate system is transformed into the office of the autonomous mobile robot
Under portion's coordinate system, tangential error, normal error and angular error are obtained；
Based on Lyapunov stability criterion, foundation makes the convergent Motion Controlling Model of trajectory error, amendment it is practical to it is described from
The speed and angular speed that main mobile robot issues；
Motion command is executed according to the Motion Controlling Model, the revolving speed of left and right sidesing driving wheel is recalculated and is handed down to motor.
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