阅读说明：本技术 一种导航路径跟踪控制方法、设备、移动机器人及系统 (Navigation path tracking control method, equipment, mobile robot and system ) 是由 陈福财 颜江 于 2018-06-25 设计创作，主要内容包括：一种导航路径跟踪控制方法、设备、移动机器人及系统,其中,方法包括：获取移动机器人的位置(S201)；在导航路径上确定与所述移动机器人的位置满足预设位置关系的目标航点(S202)；控制所述移动机器人向所述导航路径上的目标航点移动(S203)。通过这种方式,实现了对移动机器人的导航路径的精准跟踪控制,提高了跟踪控制的准确性和鲁棒性。(A navigation path tracking control method, equipment, a mobile robot and a system are provided, wherein the method comprises the following steps: acquiring a position of a mobile robot (S201); determining a target waypoint satisfying a preset positional relationship with the position of the mobile robot on a navigation path (S202); controlling the mobile robot to move to a target waypoint on the navigation path (S203). By the method, the accurate tracking control of the navigation path of the mobile robot is realized, and the accuracy and the robustness of the tracking control are improved.)

A navigation path tracking control method of a mobile robot, comprising:

acquiring the position of a mobile robot;

determining a target waypoint which meets a preset position relation with the position of the mobile robot on a navigation path;

and controlling the mobile robot to move to the target waypoint on the navigation path.

The method of claim 1,

and the target waypoint meeting the preset position relation with the position of the mobile robot is the target waypoint closest to the position of the mobile robot.

The method of claim 1 or 2, wherein said controlling the mobile robot to move to the target waypoint on the navigation path comprises:

determining a radial control error according to the distance between the target navigation point and the position of the mobile robot;

and controlling the mobile robot to move to a target waypoint on the navigation path in the radial direction according to the radial control error.

The method of claim 3, wherein the determining as a radial control error as a function of the distance between the target waypoint and the position of the mobile robot comprises:

determining a distance between the target waypoint and the position of the mobile robot as a radial control error.

The method according to claim 3 or 4, characterized in that the method further comprises:

acquiring the moving speed of the mobile robot;

the controlling the mobile robot to move to the target waypoint on the navigation path in the radial direction according to the radial control error comprises:

and controlling the mobile robot to move to a target waypoint on the navigation path in the radial direction according to the radial control error and the moving speed.

The method of claim 5, further comprising:

acquiring the tangential moving speed of the moving speed in the tangential direction;

determining a compensation centripetal acceleration according to the tangential moving speed and the curvature radius corresponding to the target waypoint;

the controlling the mobile robot to move to the target waypoint on the navigation path in the radial direction according to the radial control error and the moving speed comprises:

and controlling the mobile robot to move to a target waypoint on the navigation path in the radial direction according to the radial control error and the compensated centripetal acceleration.

The method of claim 6, further comprising:

acquiring the radial moving speed of the moving speed in the radial direction;

the controlling the mobile robot to move to the target waypoint on the navigation path in the radial direction according to the radial control error and the moving speed comprises:

and controlling the mobile robot to move to a target waypoint on the navigation path in the radial direction according to the radial control error, the compensated centripetal acceleration and the radial moving speed.

The method of claim 1, wherein determining a target waypoint on the navigation path that satisfies a preset positional relationship with the position of the mobile robot comprises:

and determining a target waypoint which meets a preset position relation with the position of the mobile robot on the navigation path within a preset length range along the navigation path direction by taking the reference waypoint on the navigation path as a starting point.

The method of claim 8, wherein the reference waypoint is a last target waypoint.

The method according to any one of claims 1-9, further comprising:

acquiring the limit tangential moving speed of the mobile robot on the target waypoint;

controlling the tangential moving speed of the mobile robot so that the tangential moving speed of the mobile robot when the mobile robot reaches the target waypoint is less than or equal to the limit tangential moving speed.

The method of claim 10, wherein said obtaining a limit tangential movement speed of the mobile robot at the target waypoint comprises:

acquiring the curvature radius of a target waypoint on the navigation path;

acquiring the extreme motion attitude of the mobile robot;

and determining the limit tangential moving speed of the mobile robot on the target waypoint according to the curvature radius and the limit motion attitude.

The method of claim 1, further comprising:

acquiring at least one sharp-turn navigation point on the navigation path;

acquiring the limit tangential moving speed of the mobile robot at each sharp-turn navigation point;

and controlling the tangential moving speed of the mobile robot so that the tangential moving speed when the mobile robot reaches each sharp-turn navigation point is less than or equal to the limit tangential moving speed corresponding to the sharp-turn navigation point.

The method of claim 12, wherein said obtaining the limit tangential movement velocity of the mobile robot at each sharp waypoint comprises:

obtaining the curvature radius of each sharp-bending navigation point on the navigation path;

acquiring the extreme motion attitude of the mobile robot;

and determining the limit tangential moving speed of the mobile robot at each sharp-turn navigation point according to the curvature radius and the limit movement posture.

The method of claim 1, wherein the obtaining the position of the mobile robot comprises:

acquiring a measuring position output by a positioning sensor of the mobile robot;

and correcting the measured position according to the system delay so as to obtain the position of the mobile robot.

A navigation path tracking control method of a mobile robot, comprising:

acquiring the limit tangential moving speed of the mobile robot on a navigation point in a navigation path;

controlling the tangential moving speed of the mobile robot so that the tangential moving speed of the mobile robot when the mobile robot reaches the waypoint is less than or equal to a limit tangential moving speed.

The method of claim 15, wherein said obtaining the limit tangential movement velocity of the mobile robot at a waypoint in the navigation path comprises:

acquiring the curvature radius of a navigation point in the navigation path;

acquiring the extreme motion attitude of the mobile robot;

and determining the limit tangential moving speed of the mobile robot on the navigation point according to the curvature radius and the limit motion attitude.

The method of claim 15 or 16, wherein the waypoint is a sharp bend waypoint in the navigation path.

The method of any of claims 15-17, wherein the controlling the tangential movement speed of the mobile robot comprises:

determining a distance between a mobile robot along a navigation path direction and the waypoint in the navigation path;

and if the distance is smaller than or equal to a preset distance threshold value and the tangential moving speed of the mobile robot is larger than or equal to the limit tangential moving speed, controlling the mobile robot to decelerate so that the tangential moving speed when the mobile robot reaches the waypoint is smaller than or equal to the limit tangential moving speed corresponding to the sharp bend waypoint.

The method of claim 18, wherein the determining a distance between the mobile robot along a navigation path direction and the waypoint in the navigation path comprises:

and determining the distance between the mobile robot and the waypoint in the navigation path along the navigation path direction according to the position of the mobile robot and the position of the waypoint.

The method of claim 19, further comprising:

acquiring a measuring position output by a positioning sensor of the mobile robot;

and correcting the measured position according to the system delay to acquire the position of the mobile robot.

A navigation path tracking control apparatus comprising a memory and a processor;

the memory to store program instructions;

the processor, configured to invoke the program instructions, and when the program instructions are executed, configured to:

acquiring the position of a mobile robot;

determining a target waypoint which meets a preset position relation with the position of the mobile robot on a navigation path;

and controlling the mobile robot to move to the target waypoint on the navigation path.

The apparatus of claim 21,

and the target waypoint meeting the preset position relation with the position of the mobile robot is the target waypoint closest to the position of the mobile robot.

The apparatus of claim 21 or 22,

when the processor controls the mobile robot to move to the target waypoint on the navigation path, the processor is specifically configured to:

determining a radial control error according to the distance between the target navigation point and the position of the mobile robot;

and controlling the mobile robot to move to a target waypoint on the navigation path in the radial direction according to the radial control error.

The apparatus of claim 23,

when the processor determines the radial control error according to the distance between the target navigation point and the position of the mobile robot, the processor is specifically configured to:

determining a distance between the target waypoint and the position of the mobile robot as a radial control error.

The apparatus of claim 23 or 24,

the processor is further configured to: acquiring the moving speed of the mobile robot;

when the processor controls the mobile robot to move to the target waypoint on the navigation path in the radial direction according to the radial control error, the processor is specifically configured to:

and controlling the mobile robot to move to a target waypoint on the navigation path in the radial direction according to the radial control error and the moving speed.

The apparatus of claim 25,

the processor is further configured to:

acquiring the tangential moving speed of the moving speed in the tangential direction;

determining a compensation centripetal acceleration according to the tangential moving speed and the curvature radius corresponding to the target waypoint;

and the processor is specifically configured to, when controlling the mobile robot to move to the target waypoint on the navigation path in the radial direction according to the radial control error and the moving speed:

and controlling the mobile robot to move to a target waypoint on the navigation path in the radial direction according to the radial control error and the compensated centripetal acceleration.

The apparatus of claim 26,

the processor is further configured to: acquiring the radial moving speed of the moving speed in the radial direction;

and the processor is specifically configured to, when controlling the mobile robot to move to the target waypoint on the navigation path in the radial direction according to the radial control error and the moving speed:

and controlling the mobile robot to move to a target waypoint on the navigation path in the radial direction according to the radial control error, the compensated centripetal acceleration and the radial moving speed.

The apparatus of claim 21,

when the processor determines, on the navigation path, a target waypoint that satisfies a preset positional relationship with the position of the mobile robot, the processor is specifically configured to:

and determining a target waypoint which meets a preset position relation with the position of the mobile robot on the navigation path within a preset length range along the navigation path direction by taking the reference waypoint on the navigation path as a starting point.

The apparatus of claim 21, wherein the reference waypoint is a last target waypoint.

The apparatus according to any one of claims 21-29,

the processor is further configured to:

acquiring the limit tangential moving speed of the mobile robot on the target waypoint;

controlling the tangential moving speed of the mobile robot so that the tangential moving speed of the mobile robot when the mobile robot reaches the target waypoint is less than or equal to the limit tangential moving speed.

The apparatus of claim 30,

when the processor obtains the limit tangential moving speed of the mobile robot at the target waypoint, the processor is specifically configured to:

acquiring the curvature radius of a target waypoint on the navigation path;

acquiring the extreme motion attitude of the mobile robot;

and determining the limit tangential moving speed of the mobile robot on the target waypoint according to the curvature radius and the limit motion attitude.

The apparatus of claim 21,

the processor is further configured to:

acquiring at least one sharp-turn navigation point on the navigation path;

acquiring the limit tangential moving speed of the mobile robot at each sharp-turn navigation point;

and controlling the tangential moving speed of the mobile robot so that the tangential moving speed when the mobile robot reaches each sharp-turn navigation point is less than or equal to the limit tangential moving speed corresponding to the sharp-turn navigation point.

The apparatus of claim 32,

when the processor obtains the limit tangential moving speed of the mobile robot at each sharp-turn navigation point, the processor is specifically configured to:

obtaining the curvature radius of each sharp-bending navigation point on the navigation path;

acquiring the extreme motion attitude of the mobile robot;

and determining the limit tangential moving speed of the mobile robot at each sharp-turn navigation point according to the curvature radius and the limit movement posture.

The apparatus of claim 21,

when the processor obtains the position of the mobile robot, the processor is specifically configured to:

acquiring a measuring position output by a positioning sensor of the mobile robot;

and correcting the measured position according to the system delay so as to obtain the position of the mobile robot.

A navigation path tracking control apparatus comprising a memory and a processor;

the memory to store program instructions;

the processor, configured to invoke the program instructions, and when the program instructions are executed, configured to:

acquiring the limit tangential moving speed of the mobile robot on a navigation point in a navigation path;

controlling the tangential moving speed of the mobile robot so that the tangential moving speed of the mobile robot when the mobile robot reaches the waypoint is less than or equal to a limit tangential moving speed.

The apparatus of claim 35,

when the processor obtains the limit tangential moving speed of the mobile robot at the waypoint in the navigation path, the processor is specifically configured to:

acquiring the curvature radius of a navigation point in the navigation path;

acquiring the extreme motion attitude of the mobile robot;

and determining the limit tangential moving speed of the mobile robot on the navigation point according to the curvature radius and the limit motion attitude.

The apparatus of claim 35 or 36, wherein the waypoint is a sharp bend waypoint in the navigation path.

The apparatus of any one of claims 35-37,

when the processor controls the tangential moving speed of the mobile robot, the processor is specifically configured to:

determining a distance between a mobile robot along a navigation path direction and the waypoint in the navigation path;

and if the distance is smaller than or equal to a preset distance threshold value and the tangential moving speed of the mobile robot is larger than or equal to the limit tangential moving speed, controlling the mobile robot to decelerate so that the tangential moving speed when the mobile robot reaches the waypoint is smaller than or equal to the limit tangential moving speed corresponding to the sharp bend waypoint.

The apparatus of claim 38,

the processor, when determining the distance between the mobile robot and the waypoint in the navigation path along the navigation path direction, is specifically configured to:

and determining the distance between the mobile robot and the waypoint in the navigation path along the navigation path direction according to the position of the mobile robot and the position of the waypoint.

The apparatus of claim 39,

the processor is further configured to:

acquiring a measuring position output by a positioning sensor of the mobile robot;

and correcting the measured position according to the system delay to acquire the position of the mobile robot.

A mobile robot, comprising:

a body;

the power system is arranged on the machine body and used for providing moving power for the mobile robot;

a processor for performing the steps of:

acquiring the position of a mobile robot;

determining a target waypoint which meets a preset position relation with the position of the mobile robot on a navigation path;

and controlling the mobile robot to move to the target waypoint on the navigation path.

A robot as set forth in claim 41,

and the target waypoint meeting the preset position relation with the position of the mobile robot is the target waypoint closest to the position of the mobile robot.

A robot as claimed in claim 41 or 42,

when the processor controls the mobile robot to move to the target waypoint on the navigation path, the processor is specifically configured to:

determining a radial control error according to the distance between the target navigation point and the position of the mobile robot;

and controlling the mobile robot to move to a target navigation point on the navigation path in a radial direction according to the radial control error.

A robot as set forth in claim 43,

the processor is specifically configured to, when determining the radial control error according to the distance between the target waypoint and the position of the mobile robot:

determining a distance between the target waypoint and the position of the mobile robot as a radial control error.

A robot as claimed in claim 43 or 44,

the processor is further configured to:

acquiring the moving speed of the mobile robot;

when the processor controls the mobile robot to move to the target waypoint on the navigation path in the radial direction according to the radial control error, the processor is specifically configured to:

and controlling the mobile robot to move to a target waypoint on the navigation path in the radial direction according to the radial control error and the moving speed.

A robot as set forth in claim 45,

the processor is further configured to:

acquiring the tangential moving speed of the moving speed in the tangential direction;

determining a compensation centripetal acceleration according to the tangential moving speed and the curvature radius corresponding to the target waypoint;

and the processor is specifically configured to, when controlling the mobile robot to move to the target waypoint on the navigation path in the radial direction according to the radial control error and the moving speed:

and controlling the mobile robot to move to a target waypoint on the navigation path in the radial direction according to the radial control error and the compensated centripetal acceleration.

A robot as set forth in claim 46,

the processor is further configured to:

acquiring the radial moving speed of the moving speed in the radial direction;

and the processor is specifically configured to, when controlling the mobile robot to move to the target waypoint on the navigation path in the radial direction according to the radial control error and the moving speed:

and controlling the mobile robot to move to a target waypoint on the navigation path in the radial direction according to the radial control error, the compensated centripetal acceleration and the radial moving speed.

A robot as set forth in claim 41,

when the processor determines, on the navigation path, a target waypoint that satisfies a preset positional relationship with the position of the mobile robot, the processor is specifically configured to:

and determining a target waypoint which meets a preset position relation with the position of the mobile robot on the navigation path within a preset length range along the navigation path direction by taking the reference waypoint on the navigation path as a starting point.

A robot as set forth in claim 48, wherein the reference waypoint is a last target waypoint.

A robot as claimed in any of claims 41-49,

the processor is further configured to:

acquiring the limit tangential moving speed of the mobile robot on the target waypoint;

controlling the tangential moving speed of the mobile robot so that the tangential moving speed of the mobile robot when the mobile robot reaches the target waypoint is less than or equal to the limit tangential moving speed.

A robot as set forth in claim 50,

when the processor obtains the limit tangential moving speed of the mobile robot at the target waypoint, the processor is specifically configured to:

acquiring the curvature radius of a target waypoint on the navigation path;

acquiring the extreme motion attitude of the mobile robot;

and determining the limit tangential moving speed of the mobile robot on the target waypoint according to the curvature radius and the limit motion attitude.

A robot as set forth in claim 41,

the processor is further configured to:

acquiring at least one sharp-turn navigation point on the navigation path;

acquiring the limit tangential moving speed of the mobile robot at each sharp-turn navigation point;

and controlling the tangential moving speed of the mobile robot so that the tangential moving speed when the mobile robot reaches each sharp-turn navigation point is less than or equal to the limit tangential moving speed corresponding to the sharp-turn navigation point.

A robot as claimed in claim 52,

when the processor obtains the limit tangential moving speed of the mobile robot at each sharp-turn navigation point, the processor is specifically configured to:

obtaining the curvature radius of each sharp-bending navigation point on the navigation path;

acquiring the extreme motion attitude of the mobile robot;

and determining the limit tangential moving speed of the mobile robot at each sharp-turn navigation point according to the curvature radius and the limit movement posture.

A robot as set forth in claim 41,

when the processor obtains the position of the mobile robot, the processor is specifically configured to:

acquiring a measuring position output by a positioning sensor of the mobile robot;

and correcting the measured position according to the system delay so as to obtain the position of the mobile robot.

A mobile robot, comprising:

a body;

the power system is arranged on the machine body and used for providing moving power for the mobile robot;

a processor for performing the steps of:

acquiring the limit tangential moving speed of the mobile robot on a navigation point in a navigation path;

controlling the tangential moving speed of the mobile robot so that the tangential moving speed of the mobile robot when the mobile robot reaches the waypoint is less than or equal to a limit tangential moving speed.

A robot as claimed in claim 55,

when the processor obtains the limit tangential moving speed of the mobile robot at the waypoint in the navigation path, the processor is specifically configured to:

acquiring the curvature radius of a navigation point in the navigation path;

acquiring the extreme motion attitude of the mobile robot;

and determining the limit tangential moving speed of the mobile robot on the navigation point according to the curvature radius and the limit motion attitude.

A robot as claimed in claim 55 or 56, wherein the waypoints are tight-curve waypoints in the navigational path.

A robot as claimed in any of claims 55-57,

when the processor controls the tangential moving speed of the mobile robot, the processor is specifically configured to:

determining a distance between a mobile robot along a navigation path direction and the waypoint in the navigation path;

and if the distance is smaller than or equal to a preset distance threshold value and the tangential moving speed of the mobile robot is larger than or equal to the limit tangential moving speed, controlling the mobile robot to decelerate so that the tangential moving speed when the mobile robot reaches the waypoint is smaller than or equal to the limit tangential moving speed corresponding to the sharp bend waypoint.

A robot as set forth in claim 58,

the processor, when determining the distance between the mobile robot and the waypoint in the navigation path along the navigation path direction, is specifically configured to:

and determining the distance between the mobile robot and the waypoint in the navigation path along the navigation path direction according to the position of the mobile robot and the position of the waypoint.

A robot as set forth in claim 58,

the processor is further configured to:

acquiring a measuring position output by a positioning sensor of the mobile robot;

and correcting the measured position according to the system delay to acquire the position of the mobile robot.

A navigation path tracking control system, comprising: a navigation path tracking control device and a mobile robot;

the navigation path tracking control equipment is used for acquiring the position of the mobile robot; determining a target waypoint which meets a preset position relation with the position of the mobile robot on a navigation path; sending a control instruction to the mobile robot, wherein the control instruction is used for controlling the mobile robot to move to a target waypoint on the navigation path;

and the mobile robot is used for responding to the control instruction and moving to the target waypoint on the navigation path.

The system of claim 61,

and the target waypoint meeting the preset position relation with the position of the mobile robot is the target waypoint closest to the position of the mobile robot.

The system of claim 61 or 62,

the navigation path tracking control equipment is specifically used for determining a radial control error according to the distance between the target navigation point and the position of the mobile robot; and controlling the mobile robot to move to a target waypoint on the navigation path in the radial direction according to the radial control error.

The system of claim 63,

the navigation path tracking control device is specifically configured to determine a distance between the target waypoint and the position of the mobile robot as a radial control error.

The system of claim 63 or 64,

the navigation path tracking control equipment is also used for acquiring the moving speed of the mobile robot; and controlling the mobile robot to move to a target waypoint on the navigation path in the radial direction according to the radial control error and the moving speed.

The system of claim 65,

the navigation path tracking control equipment is also used for acquiring the tangential moving speed of the moving speed in the tangential direction; determining a compensation centripetal acceleration according to the tangential moving speed and the curvature radius corresponding to the target waypoint; and controlling the mobile robot to move to a target waypoint on the navigation path in the radial direction according to the radial control error and the compensated centripetal acceleration.

The system of claim 66,

the navigation path tracking control equipment is also used for acquiring the radial moving speed of the moving speed in the radial direction; and controlling the mobile robot to move to a target waypoint on the navigation path in the radial direction according to the radial control error, the compensated centripetal acceleration and the radial moving speed.

The system of claim 61,

the navigation path tracking control device is specifically configured to determine, on a navigation path within a preset length range along a navigation path direction, a target waypoint that satisfies a preset positional relationship with the position of the mobile robot, using a reference waypoint on the navigation path as a starting point.

The system of claim 68, wherein the reference waypoint is a last target waypoint.

The system of any one of claims 61-69,

the navigation path tracking control equipment is also used for acquiring the limit tangential moving speed of the mobile robot on the target waypoint; controlling the tangential moving speed of the mobile robot so that the tangential moving speed of the mobile robot when the mobile robot reaches the target waypoint is less than or equal to the limit tangential moving speed.

The system of claim 61,

the navigation path tracking control equipment is specifically used for acquiring the curvature radius of a target waypoint on the navigation path; acquiring the extreme motion attitude of the mobile robot; and determining the limit tangential moving speed of the mobile robot on the target waypoint according to the curvature radius and the limit motion attitude.

The system of claim 61,

the navigation path tracking control equipment is also used for acquiring at least one sharp-turn navigation point on the navigation path; acquiring the limit tangential moving speed of the mobile robot at each sharp-turn navigation point; and controlling the tangential moving speed of the mobile robot so that the tangential moving speed when the mobile robot reaches each sharp-turn navigation point is less than or equal to the limit tangential moving speed corresponding to the sharp-turn navigation point.

The system of claim 72,

the navigation path tracking control equipment is specifically used for acquiring the curvature radius of each sharp-turn navigation point on the navigation path; acquiring the extreme motion attitude of the mobile robot; and determining the limit tangential moving speed of the mobile robot at each sharp-turn navigation point according to the curvature radius and the limit movement posture.

The system of claim 61,

the navigation path tracking control equipment is specifically used for acquiring a measurement position output by a positioning sensor of the mobile robot; and correcting the measured position according to the system delay so as to obtain the position of the mobile robot.

A navigation path tracking control system, comprising: a navigation path tracking control device and a mobile robot;

the navigation path tracking control equipment is used for acquiring the limit tangential moving speed of the mobile robot on a navigation point in the navigation path; sending a movement control instruction to the mobile robot, wherein the movement control instruction is used for controlling the tangential movement speed of the mobile robot so that the tangential movement speed of the mobile robot when reaching the waypoint is less than or equal to the limit tangential movement speed;

and the mobile robot is used for responding to the movement control instruction to move in the navigation path.

The system of claim 75,

the navigation path tracking control equipment is specifically used for acquiring the curvature radius of a navigation point in the navigation path; acquiring the extreme motion attitude of the mobile robot; and determining the limit tangential moving speed of the mobile robot on the navigation point according to the curvature radius and the limit motion attitude.

The system of claim 75 or 76, wherein the waypoint is a sharp bend waypoint in the navigation path.

The system of any one of claims 75-77,

the navigation path tracking control equipment is specifically used for determining the distance between the mobile robot and the navigation point in the navigation path along the navigation path direction; and if the distance is smaller than or equal to a preset distance threshold value and the tangential moving speed of the mobile robot is larger than or equal to the limit tangential moving speed, controlling the mobile robot to decelerate so that the tangential moving speed when the mobile robot reaches the waypoint is smaller than or equal to the limit tangential moving speed corresponding to the sharp bend waypoint.

The system of claim 78,

the navigation path tracking control device is specifically configured to determine, according to the position of the mobile robot and the position of a waypoint, a distance between the mobile robot and the waypoint in the navigation path along a navigation path direction.

The system of claim 79,

the navigation path tracking control equipment is also used for acquiring a measuring position output by a positioning sensor of the mobile robot; and correcting the measured position according to the system delay to acquire the position of the mobile robot.

A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1 to 20.