CN103576688B - A kind of robot is counterclockwise clockwise motion control method more first - Google Patents
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Abstract
The invention discloses a kind of robot first counterclockwise clockwise motion control method again, the method comprises the following steps: set and input multiple robot motion's parameter; The coordinate in first center of circle of calculating robot's motion; The coordinate in second center of circle of calculating robot's motion; Calculate the first vector of unit length that second center of circle is pointed in first center of circle; Calculate the angle between the first vector of unit length and the second vector of unit length; The coordinate of the first transfer point of calculating robot's motion; The coordinate of the second transfer point of calculating robot's motion; Calculate the second vector of unit length being pointed to the second transfer point by the first transfer point; First corner of calculating robot's motion; Second corner of calculating robot's motion; Based on above-mentioned motion path parameter, the first counterclockwise rear clockwise movement for robot controls.The present invention, in conjunction with robotics knowledge, utilizes Rotating Transition of Coordinate method to achieve control for the first counterclockwise clockwise movement again of robot, and the present invention is simple and effectively.
Description
Technical field
The present invention relates to robotics, specifically a kind of robot first counterclockwise clockwise motion control method again.
Background technology
In recent years, prospecting, Target Acquisition, search for rescue, supervise, the aspect such as environmental monitoring widely application demand mobile robot technology is developed fast.Wherein, airmanship is one of core technology of studying of mobile robot, and path planning is one of basic link of navigation.The basic thought of robot path planning is the path finding a collisionless optimum from starting point to impact point or near-optimization according to certain standard (as minimum in shortest time, energy, shortest path etc.).Path planning can be divided into global path planning and local paths planning, and the main algorithm of global path planning has Visual Graph method, grid decoupling method, probability graph method, topological approach and neural network; The main algorithm of local paths planning has Artificial Potential Field Method, fast random search tree (RRT) and fuzzy logic algorithm etc.
Summary of the invention
The object of the invention is to propose a kind of robot first counterclockwise clockwise motion control method again, to carry out robot C SC path planning, make robot carry out the counterclockwise clockwise movement again of elder generation according to the route of planning.
A kind of robot that the present invention proposes first counterclockwise clockwise motion control method again comprises the following steps:
Step S1: set and input multiple robot motion's parameter, described kinematic parameter at least comprises: robot motion's initial point S coordinate (x
s, y
s), robot is at the inceptive direction vector of unit length Ps(p at initial point S place
xs, p
ys), robot motion's impact point G coordinate (x
g, y
g), robot is at the target direction vector of unit length Pg(p at impact point G place
xg, p
yg), and the radius of turn R that robot allows;
Step S2: calculate robot to be the first center of circle Os moved around the first center of circle Os counterclockwise with radius of turn R coordinate (x from initial point S along inceptive direction vector of unit length Ps based on initial point S, inceptive direction vector of unit length Ps and radius of turn R
os, y
os);
Step S3: based target point G, target direction vector of unit length Pg and radius of turn R calculate robot and to move the coordinate (x of the second center of circle Og to arrive impact point G and target direction vector of unit length Pg around the second center of circle Og along clockwise direction with radius of turn R
og, y
og);
Step S4: the coordinate based on the first center of circle Os and the second center of circle Og calculates the first vector of unit length Q (q being pointed to the second center of circle Og by the first center of circle Os
x, q
y);
Step S5: calculate the angle γ between the first vector of unit length Q and the second vector of unit length W based on the first center of circle Os, the second center of circle Og and radius of turn R;
Step S6: calculate robot from the coordinate (x transferring the first transfer point Ws along the second vector of unit length W direction moving linearly around the first center of circle Os counterclockwise movement to based on described first center of circle Os, radius of turn R and the first vector of unit length Q
ws, y
ws);
Step S7: calculate robot from the coordinate (x transferring the second transfer point Wg around the second center of circle Og clockwise movement along the second vector of unit length W direction rectilinear motion to based on described second center of circle Og, radius of turn R and the first vector of unit length Q
wg, y
wg);
Step S8: calculate the second vector of unit length W (w being pointed to the second transfer point Wg by the first transfer point Ws
x, w
y);
Step S9: calculate robot based on the first center of circle Os, initial point S, the first transfer point Ws and move to around the first center of circle Os the first corner α that the first transfer point Ws turns over counterclockwise from initial point S
s;
Step S10: calculate robot from the second transfer point Wg along moving to around the second center of circle Og the second corner β that impact point G turns over clockwise based on the second center of circle Og, impact point G, the second transfer point Wg
g;
Step S11: the motion path parameter calculated based on described step S2-S10, first counterclockwise rear clockwise movement for robot controls, wherein, the first counterclockwise rear clockwise movement path of described robot is: turn over first corner α with radius of turn R around the first center of circle Os counterclockwise movement by initial point S
sarrive the first transfer point Ws, be linearly moved to the second transfer point Wg by the first transfer point Ws along the second vector of unit length W direction, turn over second corner β with radius of turn R around the second center of circle Og clockwise movement by the second transfer point Wg
gnamely impact point G is arrived.
The present invention is in conjunction with robotics, and propose a kind of robot first counterclockwise clockwise motion control method again, its method especially by Rotating Transition of Coordinate realizes, simple and effective.
Accompanying drawing explanation
The schematic diagram of the first counterclockwise clockwise motion control method again of Tu1Shi robot of the present invention.
Embodiment
For making the object, technical solutions and advantages of the present invention clearly understand, below in conjunction with specific embodiment, and with reference to accompanying drawing, the present invention is described in more detail.
Tu1Shi robot of the present invention is counterclockwise clockwise motion control method more first, and as shown in Figure 1, a kind of robot that the present invention proposes first counterclockwise clockwise motion control method again comprises following step:
Step S1: set and input multiple robot motion's parameter, described kinematic parameter at least comprises: robot motion's initial point S coordinate (x
s, y
s), robot is at the inceptive direction vector of unit length Ps(p at initial point S place
xs, p
ys), robot motion's impact point G coordinate (x
g, y
g), robot is at the target direction vector of unit length Pg(p at impact point G place
xg, p
yg), and the radius of turn R that robot allows;
Step S2: calculate robot to be the first center of circle Os moved around the first center of circle Os counterclockwise with radius of turn R coordinate (x from initial point S along inceptive direction vector of unit length Ps based on initial point S, inceptive direction vector of unit length Ps and radius of turn R
os, y
os);
This step is specially: first inceptive direction vector of unit length Ps is rotated counterclockwise 90 degree, is then multiplied with radius of turn R, then multiplied result and initial point S coordinate are added and obtain the coordinate of the first center of circle Os.
Step S3: based target point G, target direction vector of unit length Pg and radius of turn R calculate robot and to move the coordinate (x of the second center of circle Og to arrive impact point G and target direction vector of unit length Pg around the second center of circle Og along clockwise direction with radius of turn R
og, y
og);
This step is specially: first target direction vector of unit length Pg dextrorotation turn 90 degrees, be then multiplied with radius of turn R, then multiplied result and impact point G coordinate are added and obtain the coordinate of the second center of circle Og.
Step S4: the coordinate based on the first center of circle Os and the second center of circle Og calculates the first vector of unit length Q (q being pointed to the second center of circle Og by the first center of circle Os
x, q
y);
This step is specially: the coordinate deducting the first center of circle Os with the coordinate of the second center of circle Og, more namely obtains the first vector of unit length Q by subtracting each other the length value of result divided by the first center of circle Os and the second center of circle Og point-to-point transmission.
Step S5: calculate the angle γ between the first vector of unit length Q and the second vector of unit length W based on the first center of circle Os, the second center of circle Og and radius of turn R;
This step is specially: be multiplied by the length value of R divided by the first center of circle Os and the second center of circle Og point-to-point transmission with 2, then result of calculation is carried out inverse sine namely obtains angle γ.
Step S6: calculate robot from the coordinate (x transferring the first transfer point Ws along the second vector of unit length W direction moving linearly around the first center of circle Os counterclockwise movement to based on described first center of circle Os, radius of turn R and the first vector of unit length Q
ws, y
ws);
This step is specially: first turn clockwise the first vector of unit length Q (90-γ) degree, is then multiplied with radius of turn R, then multiplied result and the coordinate of the first center of circle Os are added and obtain the coordinate of the first transfer point Ws.
Step S7: calculate robot from the coordinate (x transferring the second transfer point Wg around the second center of circle Og clockwise movement along the second vector of unit length W direction rectilinear motion to based on described second center of circle Og, radius of turn R and the first vector of unit length Q
wg, y
wg);
This step is specially: first the first vector of unit length Q is rotated counterclockwise (90+ γ) degree, is then multiplied with radius of turn R, then multiplied result and the second center of circle Og coordinate are added and obtain the coordinate of the second transfer point Wg.
Step S8: calculate the second vector of unit length W (w being pointed to the second transfer point Wg by the first transfer point Ws
x, w
y);
This step is specially: the coordinate deducting the first transfer point Ws with the coordinate of the second transfer point Wg, more namely obtains the second vector of unit length W by subtracting each other the length value of result divided by the first transfer point Ws and the second transfer point Wg point-to-point transmission.
Step S9: calculate robot based on the first center of circle Os, initial point S, the first transfer point Ws and move to around the first center of circle Os the first corner α that the first transfer point Ws turns over counterclockwise from initial point S
s;
Described step S9 is further comprising the steps:
Step S91: calculate the primary vector MS that the first center of circle Os points to initial point S: the coordinate being subtracted the first center of circle Os by the coordinate of initial point S can obtain primary vector MS;
Step S92: calculate the secondary vector NS that the first center of circle Os points to the first transfer point Ws: the coordinate being subtracted the first center of circle Os by the coordinate of the first transfer point Ws can obtain secondary vector NS;
Step S93: ask for the angle α between primary vector MS and secondary vector NS by arc cosine;
Step S94: judge to arrive around the first center of circle Os the first corner α that the first transfer point Ws turns over counterclockwise from initial point S
swhether be greater than 180 degree, if α
sbe less than or equal to 180 degree, then make α
sequal α, otherwise make α
sequal 2 π-α;
Described step S94 is specially:
Work as p
ys< 0 and
time, α
s=2 π-α; Work as p
ys< 0 and
Time, α
s=α;
Work as p
ys> 0 and
time, α
s=2 π-α; Work as p
ys> 0 and
Time, α
s=α;
Work as p
ys=0 and x
wswhen≤0, α
s=2 π-α; Work as p
ys=0 and x
wsduring > 0, α
s=α.
Step S10: calculate robot from the second transfer point Wg along moving to around the second center of circle Og the second corner β that impact point G turns over clockwise based on the second center of circle Og, impact point G, the second transfer point Wg
g;
Described step S10 is further comprising the steps:
Step S101: calculate the 3rd vectorial MG that the second center of circle Og points to impact point G: the coordinate being subtracted the second center of circle Og by the coordinate of impact point G can obtain the 3rd vectorial MG;
Step S102: calculate the 4th vectorial NG that the second center of circle Og points to the second transfer point Wg: the coordinate being subtracted the second center of circle Og by the coordinate of the second transfer point Wg can obtain the 4th vectorial NG;
Step S103: ask for the angle β between the 3rd vectorial MG and the 4th vectorial NG by arc cosine;
Step S104: judge to move to around the second center of circle Og angle beta that impact point G turns over clockwise from the second transfer point Wg
gwhether be greater than 180 degree, if β
gbe less than or equal to 180 degree, then make β
gequal β, otherwise make β
gequal 2 π-β.
Described step S104 is specially:
Work as p
yg< 0 and
time, β
g=β; Work as p
yg< 0 and
Time, β
g=2 π-β;
Work as p
yg> 0 and
time, β
g=β; Work as p
yg> 0 and
Time, β
g=2 π-β;
Work as p
yg=0 and x
wgwhen≤0, β
g=β; Work as p
yg=0 and x
wgduring > 0, β
g=2 π-β.
Step S11: the motion path parameter calculated based on described step S2-S10, the first counterclockwise rear clockwise movement for robot controls, and wherein, described elder generation counterclockwise rear clockwise movement path parameter comprises: the first center of circle Os coordinate (x
os, y
os), the first transfer point Ws coordinate (x
ws, y
ws), move to around the first center of circle Os the first corner α that the first transfer point Ws turns over counterclockwise from initial point S
s, the second vector of unit length W (w
x, w
y), the second center of circle Og coordinate (x
og, y
og), the second transfer point Wg coordinate (x
wg, y
wg), from the second transfer point Wg along clockwise moving to around the second center of circle Og the second corner β that impact point G turns over
g.Described robot first counterclockwise rear clockwise motion path is specially: turn over first corner α with radius of turn R around the first center of circle Os counterclockwise movement by initial point S
sarrive the first transfer point Ws, be linearly moved to the second transfer point Wg by the first transfer point Ws along the second vector of unit length W direction, turn over second corner β with radius of turn R around the second center of circle Og clockwise movement by the second transfer point Wg
gnamely impact point G is arrived.
Above-described specific embodiment; object of the present invention, technical scheme and beneficial effect are further described; be understood that; the foregoing is only specific embodiments of the invention; be not limited to the present invention; within the spirit and principles in the present invention all, any amendment made, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (7)
1. a robot first counterclockwise clockwise motion control method again, it is characterized in that, the method comprises the following steps:
Step S1: set and input multiple robot motion's parameter, described kinematic parameter at least comprises: robot motion's initial point S coordinate (x
s, y
s), robot is at the inceptive direction vector of unit length Ps (p at initial point S place
xs, p
ys), robot motion's impact point G coordinate (x
g, y
g), robot is at the target direction vector of unit length Pg (p at impact point G place
xg, p
yg), and the radius of turn R that robot allows;
Step S2: calculate robot to be the first center of circle Os moved around the first center of circle Os counterclockwise with radius of turn R coordinate (x from initial point S along inceptive direction vector of unit length Ps based on initial point S, inceptive direction vector of unit length Ps and radius of turn R
os, y
os);
Step S3: based target point G, target direction vector of unit length Pg and radius of turn R calculate robot and to move the coordinate (x of the second center of circle Og to arrive impact point G and target direction vector of unit length Pg around the second center of circle Og along clockwise direction with radius of turn R
og, y
og);
Step S4: the coordinate based on the first center of circle Os and the second center of circle Og calculates the first vector of unit length Q (q being pointed to the second center of circle Og by the first center of circle Os
x, q
y);
Step S5: calculate the angle γ between the first vector of unit length Q and the second vector of unit length W based on the first center of circle Os, the second center of circle Og and radius of turn R, wherein, be multiplied by the length value of R divided by the first center of circle Os and the second center of circle Og point-to-point transmission with 2, then result of calculation is carried out inverse sine namely obtain angle γ;
Step S6: calculate robot from the coordinate (x transferring the first transfer point Ws along the second vector of unit length W direction moving linearly around the first center of circle Os counterclockwise movement to based on described first center of circle Os, radius of turn R and the first vector of unit length Q
ws, y
ws);
Step S7: calculate robot from the coordinate (x transferring the second transfer point Wg around the second center of circle Og clockwise movement along the second vector of unit length W direction rectilinear motion to based on described second center of circle Og, radius of turn R and the first vector of unit length Q
wg, y
wg);
Step S8: calculate the second vector of unit length W (w being pointed to the second transfer point Wg by the first transfer point Ws
x, w
y);
Step S9: calculate robot based on the first center of circle Os, initial point S, the first transfer point Ws and move to around the first center of circle Os the first corner α that the first transfer point Ws turns over counterclockwise from initial point S
s;
Step S10: calculate robot from the second transfer point Wg along moving to around the second center of circle Og the second corner β that impact point G turns over clockwise based on the second center of circle Og, impact point G, the second transfer point Wg
g;
Step S11: the motion path parameter calculated based on described step S2-S10, first counterclockwise rear clockwise movement for robot controls, wherein, the first counterclockwise rear clockwise movement path of described robot is: turn over first corner α with radius of turn R around the first center of circle Os counterclockwise movement by initial point S
sarrive the first transfer point Ws, be linearly moved to the second transfer point Wg by the first transfer point Ws along the second vector of unit length W direction, turn over second corner β with radius of turn R around the second center of circle Og clockwise movement by the second transfer point Wg
gnamely impact point G is arrived;
Wherein, described step S9 is further comprising the steps:
Step S91: calculate the primary vector MS that the first center of circle Os points to initial point S;
Step S92: calculate the secondary vector NS that the first center of circle Os points to the first transfer point Ws;
Step S93: ask for the angle α between primary vector MS and secondary vector NS by arc cosine;
Step S94: judge to arrive around the first center of circle Os the first corner α that the first transfer point Ws turns over counterclockwise from initial point S
swhether be greater than 180 degree, if α
sbe less than or equal to 180 degree, then make α
sequal α, otherwise make α
sequal 2 π-α;
Described step S10 is further comprising the steps:
Step S101: calculate the 3rd vectorial MG that the second center of circle Og points to impact point G;
Step S102: calculate the 4th vectorial NG that the second center of circle Og points to the second transfer point Wg;
Step S103: ask for the angle β between the 3rd vectorial MG and the 4th vectorial NG by arc cosine;
Step S104: judge to move to around the second center of circle Og angle beta that impact point G turns over clockwise from the second transfer point Wg
gwhether be greater than 180 degree, if β
gbe less than or equal to 180 degree, then make β
gequal β, otherwise make β
gequal 2 π-β.
2. method according to claim 1, it is characterized in that, described step S2 is specially: first inceptive direction vector of unit length Ps is rotated counterclockwise 90 degree, is then multiplied with radius of turn R, then multiplied result and initial point S coordinate are added and obtain the coordinate of the first center of circle Os.
3. method according to claim 1, it is characterized in that, described step S3 is specially: first target direction vector of unit length Pg dextrorotation turn 90 degrees, be then multiplied with radius of turn R, then multiplied result and impact point G coordinate are added and obtain the coordinate of the second center of circle Og.
4. method according to claim 1, it is characterized in that, described step S4 is specially: the coordinate deducting the first center of circle Os with the coordinate of the second center of circle Og, more namely obtains the first vector of unit length Q by subtracting each other the length value of result divided by the first center of circle Os and the second center of circle Og point-to-point transmission.
5. method according to claim 1, it is characterized in that, described step S6 is specially: first turn clockwise the first vector of unit length Q (90-γ) degree, is then multiplied with radius of turn R, then multiplied result and the coordinate of the first center of circle Os are added and obtain the coordinate of the first transfer point Ws.
6. method according to claim 1, it is characterized in that, described step S7 is specially: first the first vector of unit length Q is rotated counterclockwise (90+ γ) degree, is then multiplied with radius of turn R, then multiplied result and the second center of circle Og coordinate are added and obtain the coordinate of the second transfer point Wg.
7. method according to claim 1, it is characterized in that, described step S8 is specially: the coordinate deducting the first transfer point Ws with the coordinate of the second transfer point Wg, more namely obtains the second vector of unit length W by subtracting each other the length value of result divided by the first transfer point Ws and the second transfer point Wg point-to-point transmission.
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-
2013
- 2013-11-22 CN CN201310597933.9A patent/CN103576688B/en active Active
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| EP0457064A1 (en) * | 1990-05-14 | 1991-11-21 | Siemens Aktiengesellschaft | Method for driving a mobile system |
| US5661650A (en) * | 1994-02-23 | 1997-08-26 | Honda Giken Kogyo Kabushiki Kaisha | System for controlling a vehicle relative to a judged shape of a travel road |
| CN102207736A (en) * | 2010-03-31 | 2011-10-05 | 中国科学院自动化研究所 | Robot path planning method and apparatus thereof based on Bezier curve |
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