CN112711252B - Mobile robot, path tracking method thereof and computer readable storage medium - Google Patents
Mobile robot, path tracking method thereof and computer readable storage medium Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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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
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
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Abstract
The application is applicable to the technical field of mobile robots, and provides a mobile robot, a path tracking method thereof and a computer readable storage medium, wherein the path tracking method of the mobile robot comprises the following steps: searching a first prospective point and a second prospective point on a moving path respectively through a first length and a second length in the moving process; determining an angle value of a first included angle formed by a first connecting line and a second connecting line, wherein the first connecting line is a connecting line of the first prospective point and the mobile robot, and the second connecting line is a connecting line of the second prospective point and the mobile robot; and if the angle value is larger than a preset angle value threshold, adjusting the moving speed of the mobile robot according to the angle value. The path tracking method can reduce the vibration generated during the path tracking of the mobile robot, improve the accuracy of the path tracking, and improve the safety of the mobile robot at the position with severe road condition change.
Description
Technical Field
The present application relates to a mobile robot, and more particularly, to a mobile robot, a path tracking method thereof, and a computer readable storage medium.
Background
Generally, in order to ensure that the mobile robot can move forward according to a planned path, path tracking is required for the mobile robot. Existing mobile robot path tracking methods generally track a mobile path of a mobile robot based on a single look-ahead point, i.e., the mobile robot searches for the single look-ahead point on the mobile path and moves forward following the single look-ahead point at a fixed speed. The path tracking method cannot be well adapted to a complex path, and large tracking oscillation is easy to generate at the position with severe road condition change on the moving path, so that the accuracy of path tracking is reduced, the moving robot is easy to deviate from the path at the position with severe road condition change, and the safety of the moving robot at the position with severe road condition change is reduced.
Disclosure of Invention
In view of the above, the embodiments of the present application provide a mobile robot, a path tracking method thereof, and a computer readable storage medium, so as to solve the technical problems that the existing path tracking method of the mobile robot is easy to generate larger tracking oscillation at the severe road condition change, thereby reducing the accuracy of path tracking and the safety of the mobile robot at the severe road condition change.
In a first aspect, an embodiment of the present application provides a path tracking method for a mobile robot, including:
searching a first prospective point and a second prospective point on a moving path respectively through a first length and a second length in the moving process;
determining an angle value of a first included angle formed by a first connecting line and a second connecting line, wherein the first connecting line is a connecting line of the first prospective point and the mobile robot, and the second connecting line is a connecting line of the second prospective point and the mobile robot;
And if the angle value is larger than a preset angle value threshold, adjusting the moving speed of the mobile robot according to the angle value.
Optionally, the searching the first look-ahead point and the second look-ahead point on the moving path through the first length and the second length during the moving process includes:
searching the first prospective points on the moving path through the first length in the moving process, and searching at least two second prospective points on the moving path through at least two second lengths respectively;
correspondingly, the determining the angle value of the first included angle formed by the first connecting line and the second connecting line includes:
Determining the angle values of at least two first included angles formed by the first connecting lines and at least two second connecting lines respectively;
correspondingly, if the angle value is greater than a preset angle value threshold, adjusting the moving speed of the mobile robot according to the angle value, including:
And if at least one angle value of the first included angle is larger than the preset angle value threshold, adjusting the moving speed of the mobile robot according to the angle value of the target first included angle, wherein the target first included angle is the first included angle with the shortest second length corresponding to the at least one first included angle.
Optionally, the adjusting the moving speed of the mobile robot according to the angle value includes:
Adjusting the linear speed of the mobile robot to a first linear speed corresponding to the angle value; and/or
And adjusting the angular speed of the mobile robot to be a first angular speed corresponding to the angle value.
Optionally, after determining the angle value of the first included angle formed by the first connection line and the second connection line, the path tracking method further includes:
If the angle value is larger than a preset angle value threshold value, traversing preset path points on the moving path between the first prospective point and the second prospective point;
and determining an inflection point of the moving path from the preset path point.
Optionally, the determining the inflection point of the moving path from the preset path point includes:
And determining a preset path point with the longest distance from a third connecting line to the preset path point as the inflection point, wherein the third connecting line is a connecting line between the first prospective point and the second prospective point.
Optionally, the searching the first look-ahead point and the second look-ahead point on the moving path through the first length and the second length during the moving process includes:
and searching the first prospective point and the second prospective point on the moving path respectively through the first length and the second length based on a first preset frequency in the moving process.
Optionally, after determining the angle value of the first included angle formed by the first connection line and the second connection line, the path tracking method further includes:
If the angle value is larger than a preset angle value threshold, acquiring a yaw angle of the mobile robot, wherein the yaw angle is an included angle formed by the direction of the mobile robot and the first connecting line;
transmitting the yaw angle to a proportional-integral-derivative controller of the robot;
And adjusting the moving gesture of the robot according to a gesture adjusting instruction output by the proportional-integral-derivative controller, wherein the gesture adjusting instruction is generated by the proportional-integral-derivative controller according to the yaw angle.
In a second aspect, an embodiment of the present application provides a mobile robot, including:
the forward looking point determining unit is used for searching a first forward looking point and a second forward looking point on the moving path respectively through the first length and the second length in the moving process;
the angle value determining unit is used for determining an angle value of a first included angle formed by a first connecting line and a second connecting line, wherein the first connecting line is a connecting line of the first prospective point and the mobile robot, and the second connecting line is a connecting line of the second prospective point and the mobile robot;
and the speed adjusting unit is used for adjusting the moving speed of the mobile robot according to the angle value if the angle value is larger than a preset angle value threshold value.
In a third aspect, an embodiment of the present application provides a mobile robot comprising a processor, a memory and a computer program stored in the memory and executable on the processor, the processor implementing the path tracking method according to the first aspect or any of the alternatives of the first aspect when executing the computer program.
In a fourth aspect, embodiments of the present application provide a computer readable storage medium storing a computer program which, when executed by a processor, implements the path tracking method according to the first aspect or any of the alternatives of the first aspect.
In a fifth aspect, embodiments of the present application provide a computer program product for, when run on a mobile robot, causing the mobile robot to perform the path tracking method of the first aspect or any of the alternatives of the first aspect.
The mobile robot and the path tracking method, the computer readable storage medium and the computer program product thereof provided by the embodiment of the application have the following beneficial effects:
According to the path tracking method of the mobile robot, the mobile robot searches the first prospective point and the second prospective point which are different in distance on the moving path, and the angle value of the first included angle formed by the first prospective point and the second prospective point and the mobile robot can describe the road condition change of the moving path, so that when the angle value of the first included angle is larger than the preset angle value threshold, the situation that the mobile robot is approaching to the position on the moving path where the road condition change is severe is indicated, and at the moment, the moving speed of the mobile robot is adjusted according to the angle value of the first included angle, so that the robot can stably pass through the position where the road condition change is severe, vibration generated during path tracking of the mobile robot can be reduced, the accuracy of path tracking is improved, and the safety of the mobile robot at the position where the road condition change is severe is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a path tracking method of a mobile robot according to an embodiment of the present application;
fig. 2 is a schematic view of a road condition of a moving path according to an embodiment of the present application;
fig. 3 is a schematic view of a road condition of a moving path according to another embodiment of the present application;
fig. 4 is a schematic structural diagram of a mobile robot according to an embodiment of the present application;
Fig. 5 is a schematic structural diagram of a mobile robot according to another embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth such as the particular system architecture, techniques, etc., in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It should be understood that the term "and/or" as used in the present specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations. Furthermore, the terms "first," "second," "third," and the like in the description of the present specification and in the appended claims, are used for distinguishing between descriptions and not necessarily for indicating or implying a relative importance.
It should also be appreciated that references to "one embodiment" or "some embodiments" or the like described in this specification mean that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," and the like in the specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments" unless expressly specified otherwise. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless expressly specified otherwise.
Referring to fig. 1, fig. 1 is a schematic flowchart of a path tracking method of a mobile robot according to an embodiment of the present application. In the embodiment of the application, the execution main body of the path tracking method of the mobile robot can be the mobile robot or a processor in the mobile robot. As shown in fig. 1, the path tracking method of the mobile robot may include S11 to S13, which are described in detail as follows:
S11: and searching a first prospective point and a second prospective point on the moving path respectively through the first length and the second length in the moving process.
In the embodiment of the application, the mobile robot can search the first prospective point and the second prospective point on the moving path respectively through the first length and the second length in the moving process. Specifically, the mobile robot may determine a point on the moving path ahead thereof, which is a first length, as a first look-ahead point, and a point on the moving path ahead thereof, which is a second length, as a second look-ahead point. Wherein, the moving path in front of the mobile robot refers to a moving path which the mobile robot has not passed through yet.
The first length is not equal to the second length, and the first length may be greater than the second length, and the first length may be less than the second length. The first length and the second length may be fixed or may fluctuate within a range of lengths corresponding to the first length and the second length, and are specifically set according to actual requirements, which are not limited herein. By way of example and not limitation, the first length may correspond to a length range of [ r 1 min,r1 max ], and the second length may correspond to a length range of [ r 2 min,r2 max ].
It should be noted that, since the position of the first look-ahead point and the position of the second look-ahead point are changed in real time according to the change of the position of the mobile robot, in order to ensure that the first look-ahead point and the second look-ahead point are always located on the moving path in front of the mobile robot, an upper limit value of the linear velocity and an upper limit value of the angular velocity of the mobile robot may be preset, and the linear velocity of the mobile robot in the whole moving process may not be controlled to exceed the upper limit value of the linear velocity, and the angular velocity of the mobile robot in the whole moving process may not be controlled to exceed the upper limit value of the angular velocity.
In one embodiment of the present application, the mobile robot may search for the first look-ahead point and the second look-ahead point on the moving path at a first preset frequency during the moving process, i.e., the mobile robot may search for the first look-ahead point and the second look-ahead point on the moving path once every a first preset time interval during the moving process. Wherein the product of the first preset frequency and the first preset time interval is 1.
Based on this, the linear velocity upper limit value may be determined according to the first preset frequency and the first length or the second length. Specifically, when the first length is smaller than the second length, the linear velocity upper limit value may be a product of the first preset frequency and the first length; when the first length is greater than the second length, the linear velocity upper limit may be a product of the first preset frequency and the second length. For example, if the first length is 1 meter (m), the second preset length is 2m, and the first preset frequency is 1 hertz (Hz), the upper limit value of the linear velocity may be 1 meter/second (m/s).
In a specific application, the first length, the second length, the upper limit value of the linear velocity, the upper limit value of the angular velocity, and the like may be stored in a configuration file in advance, and the first length, the second length, the upper limit value of the linear velocity, the upper limit value of the angular velocity, and the like may be read from the configuration file before the mobile robot moves along the moving path.
S12: determining an angle value of a first included angle formed by a first connecting line and a second connecting line, wherein the first connecting line is a connecting line of the first prospective point and the mobile robot, and the second connecting line is a connecting line of the second prospective point and the mobile robot.
In the embodiment of the application, the first included angle formed by the first connecting line and the second connecting line refers to an included angle formed by the first connecting line and the second connecting line, wherein the opening formed by the first connecting line and the second connecting line faces to the moving direction of the mobile robot. As shown in fig. 2, the dashed line in the figure indicates a moving path, and assuming that the center point of the mobile robot is an O point, the first look-ahead point is an a point, the second look-ahead point is a B point, the first connection line is OA, the second connection line is OB, and the first included angle is β.
The angle value of the first included angle can describe the road condition change of the moving path. Specifically, when the angle value of the first included angle is smaller than or equal to a preset angle value threshold value, the road condition of the moving path is indicated to be stable; when the angle value of the first included angle is greater than the preset angle value threshold, it is indicated that the road condition of the moving path changes more severely (for example, a sharper turning position).
Therefore, in one embodiment of the present application, after the mobile robot determines the angle value of the first included angle, if the angle value of the first included angle is detected to be greater than the preset angle value threshold, it indicates that the mobile robot is approaching a position on the moving path where the road condition changes more severely, and at this time, the mobile robot may execute S13.
In another embodiment of the present application, if the mobile robot detects that the angle value of the first included angle is smaller than or equal to the preset angle value threshold, it indicates that the mobile robot is approaching to a position with a relatively smooth road condition on the moving path, at this time, the mobile robot may continue to move forward at its current moving speed, i.e. at this time, the moving speed of the mobile robot may not be adjusted.
The movement speed may include a linear speed and/or an angular speed, among others.
S13: and if the angle value is larger than a preset angle value threshold, adjusting the moving speed of the mobile robot according to the angle value.
In one embodiment of the present application, when the angle value of the first included angle is greater than the preset angle value threshold, the mobile robot may adjust its moving speed by:
Adjusting the linear speed of the mobile robot to a first linear speed corresponding to the angle value; and/or
And adjusting the angular speed of the mobile robot to be a first angular speed corresponding to the angle value.
In this embodiment, when the angle value of the first included angle is greater than the preset angle value threshold, the mobile robot may move forward at a constant speed at a first linear speed corresponding to the angle value of the first included angle; and/or turning at a constant speed at a first angular velocity corresponding to the angular value of the first included angle.
The first linear speed and the first angular speed are linear speeds and angular speeds which ensure that the mobile robot can stably pass through a position with severe road condition change. The first linear velocity and the first angular velocity may be set according to actual requirements, and typically, the first linear velocity is smaller than the linear velocity of the mobile robot when moving on a smooth road section.
By way of example and not limitation, in case the angle value of the first included angle is greater than a preset angle value threshold, the different angle values may correspond to different first linear speeds and/or first angular speeds. Specifically, the larger the angle value of the first included angle, the smaller the corresponding first linear velocity and/or first angular velocity may be; the smaller the angle value of the first included angle, the larger the corresponding first linear velocity and/or first angular velocity may be.
The developer can preset a first corresponding relation between the angle value of the first included angle and the moving speed under the condition that the angle value of the first included angle is larger than a preset angle value threshold value. The mobile robot may store the first correspondence, determine a first linear velocity and/or a first angular velocity corresponding to the angle value of the first included angle based on the angle value of the first included angle and the first correspondence when the angle value of the first included angle is greater than a preset angle value threshold, and adjust the moving velocity of the mobile robot based on the first linear velocity and/or the first angular velocity.
As can be seen from the above, according to the path tracking method of the mobile robot provided by the embodiment of the application, the mobile robot searches the first prospective point and the second prospective point with different distances on the moving path, and because the angle values of the first prospective point and the second prospective point and the first included angle formed by the mobile robot can describe the road condition change of the moving path, when the angle value of the first included angle is greater than the preset angle value threshold, the mobile robot is indicated to be approaching to the position with more severe road condition change on the moving path, and at the moment, the moving speed of the mobile robot is adjusted according to the angle value of the first included angle, so that the robot can stably pass through the position with more severe road condition change, thereby reducing the vibration generated during the path tracking of the mobile robot, improving the accuracy of the path tracking, and improving the safety of the mobile robot at the position with severe road condition change.
In a specific application, there may be multiple places with severe road condition changes in a short distance on the moving path, for example, there are multiple turns, some of which have larger curvature and some of which have smaller curvature, so that the curvature change of the moving path in front cannot be accurately and timely ascertained only by two prospective points with fixed lengths. Based on this, in another embodiment of the present application, S12 may specifically include the steps of:
Searching the first prospective points on the moving path through the first length in the moving process, and searching at least two second prospective points on the moving path through at least two second lengths respectively.
Correspondingly, S12 may specifically include the following steps:
And determining the angle values of at least two first included angles formed by the first connecting lines and at least two second connecting lines respectively.
Correspondingly, S13 may specifically include the following steps:
And if at least one angle value of the first included angle is larger than the preset angle value threshold, adjusting the moving speed of the mobile robot according to the angle value of the target first included angle, wherein the target first included angle is the first included angle with the shortest second length corresponding to the at least one first included angle.
In this embodiment, the at least two second lengths are not equal.
When the angle value of at least one first included angle is larger than the preset angle value threshold, the moving speed of the mobile robot needs to be adjusted according to the angle value of the first included angle corresponding to the nearest second prospective point of the mobile robot in each second prospective corresponding to the at least one first included angle.
Exemplarily, as shown in fig. 3, a dashed line in the figure represents a moving path, and assuming that the first look-ahead point is a, the first connection line is OA; assuming that the second length is 3, the 3 look-ahead points are B i、Bi-1 and B i+1, respectively, the 3 second lines are OB i、OBi-1 and OB i+1, respectively, and the 3 first included angles are θ, α and β, respectively. If the mobile robot detects that the angle value of at least one included angle (e.g., θ) among the times θ, α and β is greater than the preset angle value threshold, the mobile robot may adjust the moving speed of the mobile robot according to the relationship between the angle value of θ and the first correspondence.
According to the embodiment, the road condition change of the front moving path can be detected more accurately and timely by arranging at least two second prospective points, so that vibration generated during path tracking of the mobile robot can be reduced more effectively, and the accuracy of path tracking and the safety of the mobile robot at the position with severe road condition change are improved.
In another embodiment of the present application, in order to further improve the safety of the mobile robot at the place where the road condition changes severely, the mobile robot may further determine an inflection point of the turning place on the moving path and control the moving mode of the mobile robot at the inflection point. Wherein a movement pattern of the mobile robot at the inflection point may be used to describe a turning pattern of the mobile robot.
Based on this, after S12, the path of the mobile robot may further include the following steps according to the method:
If the angle value is larger than a preset angle value threshold value, traversing preset path points on the moving path between the first prospective point and the second prospective point;
and determining an inflection point of the moving path from the preset path point.
In this embodiment, a plurality of preset path points may be preset on the moving path, and the length of the interval between every two adjacent preset path points may be equal, and the length of the interval between every two adjacent preset path points may be set according to the actual requirement, which is not limited herein.
When the mobile robot detects that the angle value of the first included angle is larger than the preset angle value threshold, the mobile robot can traverse the preset path point on the moving path between the first prospective point and the second prospective point, and the preset path point with the longest distance from the third connecting line in the preset path point on the moving path between the first prospective point and the second prospective point is determined as the inflection point of the moving path. The third connecting line is a connecting line of the first prospective point and the second prospective point.
For example, please continue with fig. 2, the moving path between the first look-ahead point a and the second look-ahead point B refers to a path formed by a line segment AP and a line segment PB, and the preset path point with the longest distance to the third connecting line AB on the path is point P, i.e. point P is the inflection point of the moving path.
In a specific implementation manner of this embodiment, after the mobile robot determines the inflection point of the movement path, the movement mode of the mobile robot may be controlled when the mobile robot moves to the inflection point.
In another embodiment of the present application, in order to prevent the mobile robot from deviating from the moving path during the moving, the path tracking method of the mobile robot may further include the steps of, after S12:
If the angle value is larger than a preset angle value threshold, acquiring a yaw angle of the mobile robot, wherein the yaw angle is an included angle formed by the direction of the mobile robot and the first connecting line;
transmitting the yaw angle to a proportional-integral-derivative controller of the robot;
And adjusting the moving gesture of the robot according to a gesture adjusting instruction output by the proportional-integral-derivative controller, wherein the gesture adjusting instruction is generated by the proportional-integral-derivative controller according to the yaw angle.
In this embodiment, the mobile robot may further obtain a yaw angle of the mobile robot when detecting that the angle value of the first included angle is greater than the preset angle value threshold, and send the yaw angle to a Proportional-integral-differential (Proportional INTEGRAL DERIVATIVE, PID) controller of the mobile robot, so that the PID controller adjusts the movement gesture of the mobile robot based on the yaw angle.
The yaw angle of the mobile robot refers to an included angle formed by the direction of the mobile robot and the first connecting line. For example, please continue to refer to fig. 2, assuming that the mobile robot in fig. 2 is oriented to the x-axis, the yaw angle of the mobile robot is e.
Specifically, when the PID controller acquires the yaw angle of the robot, an attitude adjustment instruction is generated according to the yaw angle, and the mobile robot can adjust the moving attitude according to the attitude adjustment instruction.
The posture adjustment command may be represented by an adjustment amount of the linear velocity and/or an adjustment amount of the angular velocity. In a specific application, the adjustment amount of the linear velocity cannot be larger than the upper limit value of the adjustment amount of the linear velocity; the adjustment amount of the angular velocity cannot be larger than the upper limit value of the adjustment amount of the angular velocity.
In a specific application, the PID controller of the mobile robot may be disposed inside the mobile robot or outside the mobile robot, specifically according to the time requirement, which is not limited herein.
According to the embodiment, the moving gesture of the mobile robot in the moving process is adjusted, so that the mobile robot can be prevented from deviating from a moving route as much as possible, the accuracy of path tracking is further improved, and the safety of the mobile robot at the position with severe road condition change is improved.
It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic, and should not limit the implementation process of the embodiment of the present application.
Based on the path tracking method of the mobile robot provided by the embodiment, the embodiment of the invention further provides an embodiment of the mobile robot for realizing the method embodiment.
Referring to fig. 4, fig. 4 is a schematic structural diagram of a mobile robot according to an embodiment of the application. In the embodiment of the present application, each unit included in the mobile robot is used to execute each step in the embodiment corresponding to fig. 1. Refer specifically to fig. 1 and the related description in the corresponding embodiment of fig. 1. For convenience of explanation, only the portions related to the present embodiment are shown. As shown in fig. 4, the mobile robot 40 includes: a look-ahead point determination unit 41, an angle value determination unit 42, and a speed adjustment unit 43. Wherein:
the look-ahead point determination unit 41 is configured to search for a first look-ahead point and a second look-ahead point on the moving path by a first length and a second length, respectively, during the movement.
The angle value determining unit 42 is configured to determine an angle value of a first included angle formed by a first connection line and a second connection line, where the first connection line is a connection line between the first prospective point and the mobile robot, and the second connection line is a connection line between the second prospective point and the mobile robot.
The speed adjusting unit 43 is configured to adjust the moving speed of the mobile robot according to the angle value if the angle value is greater than a preset angle value threshold.
Optionally, the look-ahead point determining unit 41 is specifically configured to:
searching the first prospective points on the moving path through the first length in the moving process, and searching at least two second prospective points on the moving path through at least two second lengths respectively;
accordingly, the angle value determining unit 42 is specifically configured to:
Determining the angle values of at least two first included angles formed by the first connecting lines and at least two second connecting lines respectively;
accordingly, the speed adjusting unit 43 specifically functions to:
And if at least one angle value of the first included angle is larger than the preset angle value threshold, adjusting the moving speed of the mobile robot according to the angle value of the target first included angle, wherein the target first included angle is the first included angle with the shortest second length corresponding to the at least one first included angle.
Optionally, the speed adjusting unit 43 is specifically configured to:
Adjusting the linear speed of the mobile robot to a first linear speed corresponding to the angle value; and/or
And adjusting the angular speed of the mobile robot to be a first angular speed corresponding to the angle value.
Optionally, the mobile robot 40 further includes: an inflection point finding unit and an inflection point determining unit. Wherein:
the inflection point searching unit is used for traversing a preset path point on the moving path between the first prospective point and the second prospective point if the angle value is larger than a preset angle value threshold value.
The inflection point determining unit is used for determining an inflection point of the moving path from the preset path points.
Optionally, the inflection point determining unit is specifically configured to:
And determining a preset path point with the longest distance from a third connecting line to the preset path point as the inflection point, wherein the third connecting line is a connecting line between the first prospective point and the second prospective point.
Optionally, the look-ahead point determining unit 41 is specifically configured to:
and searching the first prospective point and the second prospective point on the moving path respectively through the first length and the second length based on a first preset frequency in the moving process.
Optionally, the mobile robot 40 further includes: a yaw angle acquisition unit, a first transmission unit and a posture adjustment unit. Wherein:
And the yaw angle acquisition unit is used for acquiring the yaw angle of the mobile robot if the angle value is larger than a preset angle value threshold, wherein the yaw angle is an included angle formed by the direction of the mobile robot and the first connecting line.
The first transmitting unit is used for transmitting the yaw angle to a proportional-integral-derivative controller of the robot.
The gesture adjusting unit is used for adjusting the moving gesture of the robot according to gesture adjusting instructions output by the proportional integral derivative controller, wherein the gesture adjusting instructions are generated by the proportional integral derivative controller according to the yaw angle.
It should be noted that, because the content of information interaction and execution process between the modules and the embodiment of the method of the present application are based on the same concept, specific functions and technical effects thereof may be referred to in the method embodiment section specifically, and will not be described herein.
Fig. 5 is a schematic structural diagram of a mobile robot according to another embodiment of the present application. As shown in fig. 5, the mobile robot 5 provided in this embodiment includes: a processor 50, a memory 51 and a computer program 52 stored in the memory 51 and executable on the processor 50, such as a path tracking program of a mobile robot. The processor 50, when executing the computer program 52, implements the steps of the path tracking method embodiment of each mobile robot described above, such as S11 to S13 shown in fig. 1. Or the processor 50, when executing the computer program 52, performs the functions of the modules/units of the mobile robot embodiments described above, such as the functions of the units 41-43 shown in fig. 4.
By way of example, the computer program 52 may be partitioned into one or more modules/units that are stored in the memory 51 and executed by the processor 50 to complete the present application. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions for describing the execution of the computer program 52 in the mobile robot 5. For example, the computer program 52 may be divided into a look-ahead point determining unit, an angle value determining unit and a speed adjusting unit, and the specific functions of each unit are described in the corresponding embodiment of fig. 4, which is not repeated here.
The mobile robot may include, but is not limited to, a processor 50, a memory 51. It will be appreciated by those skilled in the art that fig. 5 is merely an example of a mobile robot 5 and is not meant to be limiting of the mobile robot 5, and may include more or fewer components than shown, or may combine certain components, or different components, e.g., the mobile robot may also include input and output devices, network access devices, buses, etc.
The Processor 50 may be a central processing unit (Central Processing Unit, CPU), other general purpose Processor, digital signal Processor (DIGITAL SIGNAL Processor, DSP), application SPECIFIC INTEGRATED Circuit (ASIC), off-the-shelf Programmable gate array (Field-Programmable GATE ARRAY, FPGA) or other Programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 51 may be an internal storage unit of the mobile robot 5, such as a hard disk or a memory of the mobile robot 5. The memory 51 may be an external storage device of the mobile robot 5, such as a plug-in hard disk, a smart memory card (SMART MEDIA CARD, SMC), a Secure Digital (SD) card, a flash memory card (FLASH CARD), or the like, which are provided on the mobile robot 5. Further, the memory 51 may also include both an internal memory unit and an external memory device of the mobile robot 5. The memory 51 is used for storing the computer program and other programs and data required by the mobile robot. The memory 51 may also be used to temporarily store data that has been output or is to be output.
The embodiment of the application also provides a computer readable storage medium. The computer readable storage medium stores a computer program which, when executed by a processor, can implement the path tracking method of the mobile robot.
The embodiment of the application provides a computer program product which can realize the path tracking method of the mobile robot when being executed by the mobile robot when being run on the mobile robot.
It will be clearly understood by those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of each functional unit and module is illustrated, and in practical application, the above-mentioned functional allocation may be performed by different functional units and modules according to needs, i.e. the internal structure of the mobile robot is divided into different functional units or modules, so as to perform all or part of the above-mentioned functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, the specific names of the functional units and modules are only for distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference may be made to related descriptions of other embodiments.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
The above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.
Claims (9)
1. A path tracking method of a mobile robot, comprising:
searching a first prospective point and a second prospective point on a moving path respectively through a first length and a second length in the moving process;
determining an angle value of a first included angle formed by a first connecting line and a second connecting line, wherein the first connecting line is a connecting line of the first prospective point and the mobile robot, and the second connecting line is a connecting line of the second prospective point and the mobile robot;
if the angle value is larger than a preset angle value threshold, adjusting the moving speed of the mobile robot according to the angle value;
If the angle value is larger than a preset angle value threshold value, traversing preset path points on the moving path between the first prospective point and the second prospective point;
and determining an inflection point of the moving path from the preset path point.
2. The path tracking method according to claim 1, wherein searching for the first look-ahead point and the second look-ahead point on the moving path by the first length and the second length, respectively, during the moving, comprises:
searching the first prospective points on the moving path through the first length in the moving process, and searching at least two second prospective points on the moving path through at least two second lengths respectively;
correspondingly, the determining the angle value of the first included angle formed by the first connecting line and the second connecting line includes:
Determining the angle values of at least two first included angles formed by the first connecting lines and at least two second connecting lines respectively;
correspondingly, if the angle value is greater than a preset angle value threshold, adjusting the moving speed of the mobile robot according to the angle value, including:
And if at least one angle value of the first included angle is larger than the preset angle value threshold, adjusting the moving speed of the mobile robot according to the angle value of the target first included angle, wherein the target first included angle is the first included angle with the shortest second length corresponding to the at least one first included angle.
3. The path tracking method according to claim 1, wherein the adjusting the moving speed of the mobile robot according to the angle value includes:
Adjusting the linear speed of the mobile robot to a first linear speed corresponding to the angle value; and/or
And adjusting the angular speed of the mobile robot to be a first angular speed corresponding to the angle value.
4. The path tracking method according to claim 1, wherein the determining the inflection point of the moving path from the preset path point includes:
And determining a preset path point with the longest distance from a third connecting line to the preset path point as the inflection point, wherein the third connecting line is a connecting line between the first prospective point and the second prospective point.
5. The path tracking method according to any one of claims 1 to 4, wherein searching for a first look-ahead point and a second look-ahead point on the moving path during the moving by a first length and a second length, respectively, comprises:
and searching the first prospective point and the second prospective point on the moving path respectively through the first length and the second length based on a first preset frequency in the moving process.
6. The path tracking method according to any one of claims 1 to 4, characterized in that after the determining of the angle value of the first angle formed by the first connection line and the second connection line, the path tracking method further comprises:
If the angle value is larger than a preset angle value threshold, acquiring a yaw angle of the mobile robot, wherein the yaw angle is an included angle formed by the direction of the mobile robot and the first connecting line;
transmitting the yaw angle to a proportional-integral-derivative controller of the robot;
And adjusting the moving gesture of the robot according to a gesture adjusting instruction output by the proportional-integral-derivative controller, wherein the gesture adjusting instruction is generated by the proportional-integral-derivative controller according to the yaw angle.
7. A mobile robot, comprising:
the forward looking point determining unit is used for searching a first forward looking point and a second forward looking point on the moving path respectively through the first length and the second length in the moving process;
the angle value determining unit is used for determining an angle value of a first included angle formed by a first connecting line and a second connecting line, wherein the first connecting line is a connecting line of the first prospective point and the mobile robot, and the second connecting line is a connecting line of the second prospective point and the mobile robot;
The speed adjusting unit is used for adjusting the moving speed of the mobile robot according to the angle value if the angle value is larger than a preset angle value threshold value;
the inflection point searching unit is used for traversing preset path points on the moving path between the first prospective point and the second prospective point if the angle value is larger than a preset angle value threshold value;
And the inflection point determining unit is used for determining the inflection point of the moving path from the preset path point.
8. A mobile robot comprising a processor, a memory and a computer program stored in the memory and executable on the processor, the processor implementing the path tracking method according to any one of claims 1 to 6 when executing the computer program.
9. A computer readable storage medium storing a computer program, wherein the computer program when executed by a processor implements the path tracking method according to any one of claims 1 to 6.
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