CN106272433A - The track location system of autonomous mobile robot and method - Google Patents

Abstract

The embodiment of the invention discloses a kind of track location system and the method for autonomous mobile robot.Described system includes: obliquity sensor, for measuring the course angle of described autonomous mobile robot；Omni-directional wheel encoder, for measuring the displacement of described autonomous mobile robot, and in default angle between the direct of travel of the setting direction of described omni-directional wheel and described autonomous mobile robot；Processor, for by being compared with target location described position, obtains the positional increment of correspondence, and the position driving motor to proceed through compensation according to described positional increment is moved；Motor, moves for proceeding through the position of compensation under the driving of described processor.The track location system of the autonomous mobile robot that the embodiment of the present invention provides and method significantly improve the kinematic accuracy of autonomous mobile robot.

Description

The track location system of autonomous mobile robot and method

Technical field

The present embodiments relate to robotics, particularly relate to the track location system of a kind of autonomous mobile robot System and method.

Background technology

In industry manufactures, robot has been achieved for many great achievements, and such as mechanical arm is in automobile, electronics industry Successfully apply with medical industry has.But these business machines people also exists a basic shortcoming: lack mobility.Gu Its range of movement of fixed mechanical arm is limited, and contrary autonomous mobile robot can shuttle back and forth neatly in whole operating area.

For autonomous mobile robot, being precisely located with TRAJECTORY CONTROL is to improve the key of its transaction capabilities.From Main mobile robot, under the influence of by factors such as external disturbance, friction and pavement roughnesses, can deviate the path of initial planning, Need for this in real time autonomous mobile robot to be positioned and rectify a deviation.

Summary of the invention

For above-mentioned technical problem, embodiments provide a kind of autonomous mobile robot track location system and Method, to improve the kinematic accuracy of autonomous mobile robot.

On the one hand, the track location system of a kind of autonomous mobile robot, described system bag are embodiments provided Include:

Obliquity sensor, is arranged on the front end face of described autonomous mobile robot, is used for measuring described autonomous machine The course angle of device people；

Omni-directional wheel encoder, an incremental encoder associates with the omni-directional wheel being arranged on bottom surface, forms an omni-directional wheel Encoder, for measuring the displacement of described autonomous mobile robot, and the setting direction of described omni-directional wheel with described independently In default angle between the direct of travel of mobile robot；

Processor, electrically connects with described obliquity sensor and described omni-directional wheel encoder, for sensing according to described inclination angle The course angle that device measurement obtains, and the displacement that described omni-directional wheel encoder measurement obtains, determine described autonomous machine The position that people is current, and by being compared with target location described position, obtain the position of correspondence according to Motion Controlling Model Put increment, and the position driving motor to proceed through compensation according to described positional increment is moved；

Motor, moves for proceeding through the position of compensation under the driving of described processor.

On the other hand, the embodiment of the present invention additionally provides the track localization method of a kind of autonomous mobile robot, described side Method includes:

It is predetermined angle theta with the direct of travel of described autonomous mobile robot respectively according to two₁, θ₂The omni-directional wheel arranged The reading Δ U of coding₁, Δ U₂, determine position x, the y of described autonomous mobile robot, the most true according to the reading of obliquity sensor Course angle θ of fixed described autonomous mobile robot；

By the current location (x, y, θ) of described autonomous mobile robot and ideal position (x_γ,y_γ,θ_γ) compare, Trajector deviation (Δ x, Δ y, Δ θ) to described autonomous mobile robot；

Based on Lyapunov stability criterion, set up the Motion Controlling Model making trajectory error restrain, inclined to described track Difference (Δ x, Δ y, Δ θ) compensates.

The track location system of the autonomous mobile robot that the embodiment of the present invention provides and method, by the row with robot Enter direction at an angle omni-directional wheel is set, for this omni-directional wheel be provided for range finding omni-directional wheel encoder, and arrange For measuring the obliquity sensor of course angle, at the place that utilization is electrically connected with above-mentioned omni-directional wheel encoder and obliquity sensor Reason device so that processor can utilize predetermined according to the reading of above-mentioned omni-directional wheel encoder output and described obliquity sensor Displacement compensation amount is estimated at the inclination angle of Motion Controlling Model output, hence it is evident that improve the kinematic accuracy of autonomous mobile robot.

Accompanying drawing explanation

By the detailed description that non-limiting example is made made with reference to the following drawings of reading, other of the present invention Feature, purpose and advantage will become more apparent upon:

Fig. 1 is the structure chart of the track location system of the autonomous mobile robot that first embodiment of the invention provides；

Fig. 2 is the schematic diagram in the layout orientation of the omni-directional wheel that first embodiment of the invention provides；

Fig. 3 A is the comparison diagram of the X-axis positioning precision that first embodiment of the invention provides；

Fig. 3 B is the comparison diagram of the Y-axis positioning precision that first embodiment of the invention provides；

Fig. 4 is the comparison diagram of the kinematic accuracy of the autonomous mobile robot that first embodiment of the invention provides；

Fig. 5 is the flow chart of the track localization method of the autonomous mobile robot that second embodiment of the invention provides；

Fig. 6 be third embodiment of the invention provide autonomous mobile robot track localization method in parameter determination operation Flow chart；

Fig. 7 be the autonomous mobile robot that fourth embodiment of the invention provides track localization method in the stream of compensating operation Cheng Tu；

Fig. 8 is the relation schematic diagram between global coordinate system and the local coordinate system that fourth embodiment of the invention provides.

Detailed description of the invention

The present invention is described in further detail with embodiment below in conjunction with the accompanying drawings.It is understood that this place is retouched The specific embodiment stated is used only for explaining the present invention, rather than limitation of the invention.It also should be noted that, in order to just Part related to the present invention is illustrate only rather than entire infrastructure in description, accompanying drawing.

First embodiment

Present embodiments provide a kind of technical scheme of the track location system of autonomous mobile robot.In this technical scheme In, the track location system of described autonomous mobile robot includes: obliquity sensor 11, omni-directional wheel encoder 12, processor 13, And motor 14.

Seeing Fig. 1, described obliquity sensor 11 is for measuring the course angle of described autonomous mobile robot.Concrete, institute State obliquity sensor 11 and directly measure the dynamic roll angle and the angle of pitch that the physical quantity obtained is described autonomous mobile robot.Root Measure according to described obliquity sensor 11 and obtain described dynamic roll angle and the angle of pitch, directly electrically connect with described obliquity sensor 11 Described processor 13 can directly determine the course angle of described autonomous mobile robot.

Preferably, described obliquity sensor 11 is arranged on the front end face of described autonomous mobile robot.

Described omni-directional wheel encoder 12 associates with the omni-directional wheel on the bottom surface being arranged on described autonomous mobile robot.Institute The quantity stating the omni-directional wheel arranged on the bottom surface of autonomous mobile robot is two, and therefore, described autonomous mobile robot is wrapped The quantity of the omni-directional wheel encoder 12 contained also is two.The effect of described omni-directional wheel encoder is to measure described autonomous machine The displacement of device people.

In order to improve the positioning precision of described autonomous mobile robot, described omni-directional wheel by a kind of special in the way of be set On the bottom surface of described autonomous mobile robot.Fig. 2 shows this special set-up mode.See Fig. 2, in described autonomous shifting Driving wheel (trailing wheel) 21, universal wheel (front-wheel) 24 and omni-directional wheel 22 it is provided with on the bottom surface of mobile robot.And described entirely On wheel, also association is provided with omni-directional wheel encoder 23.The setting direction of described omni-directional wheel 22 and described autonomous mobile robot In certain angle between direct of travel.Further, the value of above-mentioned angle is more than 0 °, less than 90 °.It is to say, described omnidirectional Angle at an acute angle between setting direction and the direct of travel of described autonomous mobile robot of wheel 22.In other words, described omni-directional wheel 22 no longer as conventional set-up mode, parallel with the direct of travel of robot or be vertically arranged.

Owing to described omni-directional wheel can roll along two degree of freedom directions, the most above-mentioned omni-directional wheel at an angle is arranged Mode will not hinder the movement of described autonomous mobile robot.Also, it is preferred that, described omni-directional wheel encoder is incremental encoding Device.

It addition, in above-mentioned Fig. 2, B represents the half of the spacing of two omni-directional wheel encoders, L represents that omni-directional wheel is compiled Code device axis is to the distance of robotically-driven wheel axis.

Described processor 13 electrically connects with described obliquity sensor 11 and described omni-directional wheel encoder 12 respectively.Described process The dynamic roll angle and the angle of pitch arrived measured by device 13 according to described obliquity sensor 11, and described omni-directional wheel encoder 12 is measured The displacement obtained, calculates the positional increment of presently described autonomous mobile robot, namely enters described autonomous mobile robot Row location.Further, the position that calculated described autonomous mobile robot is also currently located by described processor 13 with Target location compares, to obtain corresponding position compensation amount.

More specifically, the positional increment along x-axis and along y-axis can be given by equation below:

$\left\{\begin{array}{c}\mathrm{\δ}x=\frac{\[{\mathrm{\ΔU}}_1+(L\·{\mathrm{sin\θ}}_1+B\·{\mathrm{cos\θ}}_1)\·\mathrm{\δ}\mathrm{\θ}\]\·{\mathrm{cos\θ}}_2}{\sin ({\mathrm{\θ}}_1+{\mathrm{\θ}}_2)}\\ -\frac{\[{\mathrm{\ΔU}}_2-(L\·{\mathrm{sin\θ}}_2+B\·{\mathrm{cos\θ}}_2)\·\mathrm{\δ}\mathrm{\θ}\]\·{\mathrm{sin\θ}}_1}{\sin ({\mathrm{\θ}}_1+{\mathrm{\θ}}_2)}\\ \mathrm{\δ}y=\frac{\[{\mathrm{\ΔU}}_1+(L\·{\mathrm{sin\θ}}_1+B\·{\mathrm{cos\θ}}_1)\·\mathrm{\δ}\mathrm{\θ}\]\·{\mathrm{sin\θ}}_2}{\sin ({\mathrm{\θ}}_1+{\mathrm{\θ}}_2)}\\ +\frac{\[{\mathrm{\ΔU}}_2-(L\·{\mathrm{sin\θ}}_2+B\·{\mathrm{cos\θ}}_2)\·\mathrm{\δ}\mathrm{\θ}\]\·{\mathrm{sin\θ}}_1}{\sin ({\mathrm{\θ}}_1+{\mathrm{\θ}}_2)}\end{array}\right.$

Wherein, θ₁It is the angle between the setting direction of the first omni-directional wheel and described direct of travel, θ₂It it is the second omni-directional wheel Angle between setting direction and described direct of travel, L is the omni-directional wheel encoder axis distance to robotically-driven wheel axis, B is the half of the spacing of two omni-directional wheel encoders, Δ U₁It is the reading increment of the first omni-directional wheel encoder, Δ U₂It is second The reading increment of omni-directional wheel encoder, δ x is robot positional increment on the x-axis direction of predetermined plane rectangular coordinate system, δ y For robot positional increment on the y-axis direction of described predetermined plane rectangular coordinate system, δ θ is the course angle increment of robot. Concrete, above-mentioned θ₁And θ₂Value be all 45 °.

After determining positional increment, the position at described autonomous mobile robot place is compared with target location Relatively, to determine position compensation amount according to given Motion Controlling Model.And, described Motion Controlling Model is according to Liapunov Stability criterion is judged to Uniformly stable.It is to say, the trajectory error determined according to described Motion Controlling Model trends towards convergence.

Concrete, after determining positional increment, utilize equation below to calculate tangential error e_t, radial error e_n, and Angular error e_θ:

$e=\left[\begin{array}{c}{e}_t\\ e_n\\ e_{\mathrm{\θ}}\end{array}\right]=\left[\begin{array}{ccc}cos\mathrm{\θ}& sin\mathrm{\θ}& 0\\ -sin\mathrm{\θ}& \cos \mathrm{\θ}& 0\\ 0& 0& 1\end{array}\right]\·\left[\begin{array}{c}\mathrm{\Δ}x\\ \mathrm{\Δ}y\\ \mathrm{\Δ}\mathrm{\θ}\end{array}\right]$

Wherein, θ is the course angle of described autonomous mobile robot.

After determining above-mentioned error vector, determine speed and the angular velocity of motor according to following Motion Controlling Model:

$\left\{\begin{array}{c}v=v_r\cos e_{\mathrm{\θ}}+k_1{e}_t\\ \mathrm{\ω}={\mathrm{\ω}}_r+k_2{e}_n+k_3{e}_{\mathrm{\θ}}\end{array}\right.$

Wherein, v_rAnd ω_rFor preferable speed and angular velocity, v and ω is speed and the angular velocity of actual correction.

After the direct of travel of described omni-directional wheel 22 with described autonomous mobile robot is arranged at an angle, according to The data precision of the positional increment in the formula calculated x-axis direction that the present embodiment provides and the positional increment in y-axis direction is all It is greatly improved.Fig. 3 A and Fig. 3 B be shown respectively under the different set-up modes of omni-directional wheel, the comparison of the positional increment in x-axis direction Figure, and the comparison diagram of the positional increment in y-axis direction.In the test gathering the data shown in Fig. 3 A and Fig. 3 B, will described oneself Described in main mobile robot, autonomous mobile robot moves upward 3.5 meters with 300mm/s, then retreats correcting action.? In set-up mode one, two omni-directional wheels of described autonomous mobile robot be arranged in parallel with the traffic direction of this robot, and Set-up mode two times, two omni-directional wheels of described autonomous mobile robot traffic direction with robot respectively is that 45 ° of angles set Put.By Fig. 3 A and Fig. 3 B it is apparent that described omni-directional wheel is arranged at an angle after, calculated x-axis direction And the data precision of the positional increment on y-axis direction is higher.

Described motor 14 electrically connects with described processor 13, for driving according to the driving signal of described processor 13 output Dynamic described autonomous mobile robot compensates displacement.More specifically, described motor 14 is for according to described driving signal In the position compensation amount that comprises compensate displacement, in order to displacement error before is compensated.

After the direct of travel of omni-directional wheel Yu described autonomous mobile robot is arranged at an angle, calculated The impact more robust of the factors such as positional increment disturbance to external world, friction and pavement roughness, and due to the position to robot Put error to be compensated, it is thus possible to the kinematic accuracy of autonomous mobile robot is greatly improved.See Fig. 4, to position by mistake After difference compensates, the site error of described autonomous mobile robot is greatly reduced.

The present embodiment measures course angle by obliquity sensor, measures distance by omni-directional wheel encoder, according to above-mentioned boat To angle and distance, described autonomous mobile robot is positioned, and according to the current position of described autonomous mobile robot with Difference between target location carries out position compensation, thus substantially increases the kinematic accuracy of autonomous mobile robot.

Second embodiment

Present embodiments provide a kind of technical scheme of the track localization method of autonomous mobile robot.In this technical scheme In, the track localization method of described autonomous mobile robot includes: according to two respectively with the row of described autonomous mobile robot Entering direction is predetermined angle theta₁, θ₂The reading Δ U of the omni-directional wheel coding arranged₁, Δ U₂, determine described autonomous mobile robot Position x, y, determine course angle θ of described autonomous mobile robot simultaneously according to the reading of obliquity sensor；By described autonomous shifting The current location (x, y, θ) of mobile robot and ideal position (x_γ,y_γ,θ_γ) compare, obtain described autonomous mobile robot Trajector deviation (Δ x, Δ y, Δ θ)；Based on Lyapunov stability criterion, set up the motor control mould making trajectory error restrain Type, compensates described trajector deviation (Δ x, Δ y, Δ θ).

Seeing Fig. 5, the track localization method of described autonomous mobile robot includes:

S51, is predetermined angle theta with the direct of travel of described autonomous mobile robot according to two respectively₁, θ₂That arranges is complete Reading Δ U to wheel coding₁, Δ U₂, determine position x, the y of described autonomous mobile robot, simultaneously according to the reading of obliquity sensor Number determines course angle θ of described autonomous mobile robot.

Getting the reading Δ U of described omni-directional wheel encoder₁And Δ U₂, and get described obliquity sensor collection After course angle θ arrived, first calculate described autonomous mobile robot positional increment in time period Δ t according to equation below δ x, δ y:

$\left\{\begin{array}{c}\mathrm{\δ}x=\frac{\[{\mathrm{\ΔU}}_1+(L\·{\mathrm{sin\θ}}_1+B\·{\mathrm{cos\θ}}_1)\·\mathrm{\δ}\mathrm{\θ}\]\·{\mathrm{cos\θ}}_2}{\sin ({\mathrm{\θ}}_1+{\mathrm{\θ}}_2)}\\ -\frac{\[{\mathrm{\ΔU}}_2-(L\·{\mathrm{sin\θ}}_2+B\·{\mathrm{cos\θ}}_2)\·\mathrm{\δ}\mathrm{\θ}\]\·{\mathrm{sin\θ}}_1}{\sin ({\mathrm{\θ}}_1+{\mathrm{\θ}}_2)}\\ \mathrm{\δ}y=\frac{\[{\mathrm{\ΔU}}_1+(L\·{\mathrm{sin\θ}}_1+B\·{\mathrm{cos\θ}}_1)\·\mathrm{\δ}\mathrm{\θ}\]\·{\mathrm{sin\θ}}_2}{\sin ({\mathrm{\θ}}_1+{\mathrm{\θ}}_2)}\\ +\frac{\[{\mathrm{\ΔU}}_2-(L\·{\mathrm{sin\θ}}_2+B\·{\mathrm{cos\θ}}_2)\·\mathrm{\δ}\mathrm{\θ}\]\·{\mathrm{sin\θ}}_1}{\sin ({\mathrm{\θ}}_1+{\mathrm{\θ}}_2)}\end{array}\right.$

Wherein, θ₁It is the angle between the setting direction of the first omni-directional wheel and described direct of travel, θ₂It it is the second omni-directional wheel Angle between setting direction and described direct of travel, L is the omni-directional wheel encoder axis distance to robotically-driven wheel axis, B is the half of the spacing of two omni-directional wheel encoders, Δ U₁It is the reading increment of the first omni-directional wheel encoder, Δ U₂It is second The reading increment of omni-directional wheel encoder, δ x is robot positional increment on the x-axis direction of predetermined plane rectangular coordinate system, δ y For robot positional increment on the y-axis direction of described predetermined plane rectangular coordinate system, δ θ is the course angle increment of robot.

After positional increment δ x, δ y in determining time period Δ t, by the integration of above-mentioned positional increment is obtained institute State the current location x, y of autonomous mobile robot.

S52, by the current location (x, y, θ) of described autonomous mobile robot and ideal position (x_γ,y_γ,θ_γ) compare Relatively, the trajector deviation (Δ x, Δ y, Δ θ) of described autonomous mobile robot is obtained.

Concrete, according to the trajector deviation of following several formula described autonomous mobile robot of calculating:

Δ x=x_r-x

Δ y=y_r-y

Δ θ=θ_r-θ

And then obtain tangential, radially and angular error under local coordinate system of autonomous mobile robot:

$e=\left[\begin{array}{c}{e}_t\\ e_n\\ e_{\mathrm{\θ}}\end{array}\right]=\left[\begin{array}{ccc}cos\mathrm{\θ}& sin\mathrm{\θ}& 0\\ -sin\mathrm{\θ}& \cos \mathrm{\θ}& 0\\ 0& 0& 1\end{array}\right]\·\left[\begin{array}{c}\mathrm{\Δ}x\\ \mathrm{\Δ}y\\ \mathrm{\Δ}\mathrm{\θ}\end{array}\right]$

S53, based on Lyapunov stability criterion, sets up the Motion Controlling Model making trajectory error restrain as follows, to institute State trajector deviation (Δ x, Δ y, Δ θ) to compensate.

$\left\{\begin{array}{c}v=v_r\cos e_{\mathrm{\θ}}+k_1{e}_t\\ \mathrm{\ω}={\mathrm{\ω}}_r+k_2{e}_n+k_3{e}_{\mathrm{\θ}}\end{array}\right.$

Wherein, v_rAnd ω_rFor preferable speed and angular velocity, v and ω is the speed after actual correction and angular velocity.

Based on this Motion Controlling Model, make k₁=k₃=2 ζ a and k₂=(a²-ω²)/v_r, following linearisation can be obtained by mistake The dynamical equation of difference:

Then the characteristic equation of matrix A (t) can be written as:

P (λ)=(λ+2 ζ a) (λ²+2ζaλ+a²)

Take a andFor on the occasion of, then the root of characteristic equation is respectively provided with negative real part, according to Lyapunov stability criterion, this control Method is asymptotically stability.

Concrete, according to described Motion Controlling Model, actual to autonomous mobile robot based on described trajector deviation correction The speed issued and angular velocity, finally recalculate the rotating speed of left and right wheels and be handed down to motor.

The present embodiment is by being that predetermined angle is arranged respectively with the direct of travel of described autonomous mobile robot according to two The reading of omni-directional wheel coding, determine the position of described autonomous mobile robot, determine according to the reading of obliquity sensor simultaneously The course angle of described autonomous mobile robot, compares the current location of described autonomous mobile robot with ideal position, Obtain the trajector deviation of described autonomous mobile robot, and based on Lyapunov stability criterion, set up and make trajectory error receive The Motion Controlling Model held back, compensate described trajector deviation, hence it is evident that improves the kinematic accuracy of autonomous mobile robot.

3rd embodiment

The present embodiment, based on the above embodiment of the present invention, further provides the rail of described autonomous mobile robot A kind of technical scheme of parameter determination operation in mark localization method.In this technical scheme, according to two respectively with described independently The direct of travel of mobile robot is predetermined angle theta₁, θ₂The reading Δ U of the omni-directional wheel coding arranged₁, Δ U₂, determine described from Position x, the y of main mobile robot, determines course angle θ of described autonomous mobile robot simultaneously according to the reading of obliquity sensor Including: described autonomous mobile robot is set up plane right-angle coordinate；Read in real time two described omni-directional wheel encoders and Described obliquity sensor numerical value increment in time period Δ t, is recorded as Δ U respectively₁, Δ U₂And δ θ；Compile according to described omni-directional wheel The reading of code device, calculates described autonomous mobile robot X-axis and Y-axis at described plane right-angle coordinate in time period Δ t Positional increment δ x, the δ y of upper difference；By to described positional increment δ x, the integration of δ y, obtaining described autonomous mobile robot Current location x, y, determine, according to the reading of described obliquity sensor, course angle θ that described autonomous mobile robot is current simultaneously.

See Fig. 6, according to two with the direct of travel of described autonomous mobile robot be respectively predetermined angle arrange complete To the reading of wheel coding, determine the position of described autonomous mobile robot, determine according to the reading of obliquity sensor described simultaneously The course angle of autonomous mobile robot includes:

S61, sets up plane right-angle coordinate to described autonomous mobile robot.

Although the plane of movement at described autonomous mobile robot place is it sometimes appear that irregular situation, but, it is big Shape in cause is smooth plane.In order to describe the position of described autonomous mobile robot accurately, for described fortune Dynamic plane, pre-builds a plane right-angle coordinate.After establishing above-mentioned plane right-angle coordinate, described autonomous The position of robot just can describe with the location point in described plane right-angle coordinate accurately.

S62, reads two described omni-directional wheel encoders and described obliquity sensor numerical value in time period Δ t in real time Increment, is recorded as Δ U respectively₁, Δ U₂And δ θ.

Wherein, Δ U₁It is the positional increment of the first omni-directional wheel encoder output in two omni-directional wheel encoders, and Δ U₂Then It it is the positional increment of the second omni-directional wheel encoder output.δ θ is the increment of the angular values of described obliquity sensor output.

S63, according to the reading of described omni-directional wheel encoder, calculate described autonomous mobile robot in time period Δ t Positional increment δ x, the δ y of difference in the x-axis of described plane right-angle coordinate and y-axis.

Concrete, calculate described autonomous mobile robot positional increment δ in x-axis and y-axis respectively according to equation below X, δ y:

$\left\{\begin{array}{c}\mathrm{\δ}x=\frac{\[{\mathrm{\ΔU}}_1+(L\·{\mathrm{sin\θ}}_1+B\·{\mathrm{cos\θ}}_1)\·\mathrm{\δ}\mathrm{\θ}\]\·{\mathrm{cos\θ}}_2}{\sin ({\mathrm{\θ}}_1+{\mathrm{\θ}}_2)}\\ -\frac{\[{\mathrm{\ΔU}}_2-(L\·{\mathrm{sin\θ}}_2+B\·{\mathrm{cos\θ}}_2)\·\mathrm{\δ}\mathrm{\θ}\]\·{\mathrm{sin\θ}}_1}{\sin ({\mathrm{\θ}}_1+{\mathrm{\θ}}_2)}\\ \mathrm{\δ}y=\frac{\[{\mathrm{\ΔU}}_1+(L\·{\mathrm{sin\θ}}_1+B\·{\mathrm{cos\θ}}_1)\·\mathrm{\δ}\mathrm{\θ}\]\·{\mathrm{sin\θ}}_2}{\sin ({\mathrm{\θ}}_1+{\mathrm{\θ}}_2)}\\ +\frac{\[{\mathrm{\ΔU}}_2-(L\·{\mathrm{sin\θ}}_2+B\·{\mathrm{cos\θ}}_2)\·\mathrm{\δ}\mathrm{\θ}\]\·{\mathrm{sin\θ}}_1}{\sin ({\mathrm{\θ}}_1+{\mathrm{\θ}}_2)}\end{array}\right.$

Wherein, θ₁It is the angle between the setting direction of the first omni-directional wheel and described direct of travel, θ₂It it is the second omni-directional wheel Angle between setting direction and described direct of travel, L is the omni-directional wheel encoder axis distance to robotically-driven wheel axis, B is the half of the spacing of two omni-directional wheel encoders, Δ U₁It is the reading increment of the first omni-directional wheel encoder, Δ U₂It is second The reading increment of omni-directional wheel encoder, δ x is robot positional increment on the x-axis direction of predetermined plane rectangular coordinate system, δ y For robot positional increment on the y-axis direction of described predetermined plane rectangular coordinate system, δ θ is the course angle increment of robot.

S64, by described positional increment δ x, the integration of δ y, obtaining the current location x of described autonomous mobile robot, Y, determines, according to the reading of described obliquity sensor, course angle θ that described autonomous mobile robot is current simultaneously.

The present embodiment is by setting up plane right-angle coordinate to described autonomous mobile robot, and reading two is described entirely in real time To wheel encoder and described obliquity sensor numerical value increment in time period Δ t, according to the reading of described omni-directional wheel encoder Several, calculate what described autonomous mobile robot was distinguished in time period Δ t in the x-axis and y-axis of described plane right-angle coordinate Positional increment, by the integration to described positional increment, obtains the current location of described autonomous mobile robot, simultaneously according to institute The reading stating obliquity sensor determines the course angle that described autonomous mobile robot is current, it is achieved that to described autonomous machine The location of people.

4th embodiment

The present embodiment, based on the above embodiment of the present invention, further provides the rail of described autonomous mobile robot A kind of technical scheme of compensating operation in mark localization method.In this technical scheme, based on Lyapunov stability criterion, set up Make the Motion Controlling Model that trajectory error is restrained, described trajector deviation is compensated and includes: by described autonomous mobile robot Trajectory error under global coordinate system is transformed under the local coordinate system of described autonomous mobile robot, obtain tangential error, Normal error and angular error；Based on Lyapunov stability criterion, set up the Motion Controlling Model making trajectory error restrain, Revise speed and angular velocity that reality issues to described autonomous mobile robot；Motion life is performed according to described Motion Controlling Model Order, recalculates the rotating speed of left and right sidesing driving wheel and is handed down to motor.

See Fig. 7, based on Lyapunov stability criterion, set up the Motion Controlling Model making trajectory error restrain, to institute State trajector deviation to compensate and include:

S71, is transformed into described autonomous machine by described autonomous mobile robot trajectory error under global coordinate system Under the local coordinate system of device people, obtain tangential error, normal error and angular error.

Fig. 8 shows global coordinate system (x_G,y_G) and local coordinate system (x_R,y_RPosition relationship between).See Fig. 8, institute Stating global coordinate system is the plane right-angle coordinate set up on the plane of movement of described autonomous mobile robot.This coordinate system Original point position also changes not based on the position of described autonomous mobile robot.Although described local coordinate is also in described motion The plane right-angle coordinate set up in plane, but its zero is the fixed position point on described autonomous mobile robot, And its x_RThe sensing of axle is as the criterion with the traffic direction of described autonomous mobile robot.

Owing to described autonomous mobile robot is entered according to trajectory error calculated under described global coordinate system Next step action control of row, needs to be converted to can be directly used for described autonomous machine by above-mentioned absolute trajectory error The controlled quentity controlled variable that device people is controlled, accordingly, it would be desirable to by under described trajectory error conversion to described local coordinate system.In above-mentioned conversion In, in addition to original coordinate value is translated, in addition it is also necessary to coordinate figure is further rotated.

S72, based on Lyapunov stability criterion, sets up the Motion Controlling Model making trajectory error restrain, revises reality The speed issued to described autonomous mobile robot and angular velocity.

Concrete, described Motion Controlling Model has a following form:

$\left\{\begin{array}{c}v=v_r\cos e_{\mathrm{\θ}}+k_1{e}_t\\ \mathrm{\ω}={\mathrm{\ω}}_r+k_2{e}_n+k_3{e}_{\mathrm{\θ}}\end{array}\right.$

Wherein, v_rAnd ω_rFor preferable speed and angular velocity, v and ω is speed and the angular velocity of actual correction, e_t、e_n、e_θ Represent tangential error, radial error, and angular error respectively.

S73, performs motion command according to described Motion Controlling Model, recalculates the rotating speed of left and right sidesing driving wheel and be handed down to Motor.

After have modified speed and angular velocity, left driving wheel and the right side can be calculated according to revised speed and angular velocity The rotating speed of driving wheel, then drive motor according to the rotating speed recalculated, make described autonomous mobile robot according to revised Speed and angular velocity carry out position and move.

The present embodiment by described autonomous mobile robot trajectory error under global coordinate system is transformed into described from Under the local coordinate system of main mobile robot, obtain tangential error, normal error and angular error, steady based on Liapunov Determine criterion, set up the Motion Controlling Model making trajectory error restrain, revise the speed that reality issues to described autonomous mobile robot Degree and angular velocity, and according to described Motion Controlling Model perform motion command, recalculate left and right sidesing driving wheel rotating speed and under Issue motor, it is achieved that the position through overcompensation of autonomous mobile robot is moved, and significantly improves the motion of robot Precision.

The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for those skilled in the art For, the present invention can have various change and change.All made within spirit and principles of the present invention any amendment, equivalent Replacement, improvement etc., should be included within the scope of the present invention.

Claims (10)

1. the track location system of an autonomous mobile robot, it is characterised in that including:

Obliquity sensor, is arranged on the front end face of described autonomous mobile robot, is used for measuring described autonomous mobile robot Course angle；

Omni-directional wheel encoder, an incremental encoder is associated with the omni-directional wheel being arranged on bottom surface, forms an omni-directional wheel and compiles Code device, for measuring the displacement of described autonomous mobile robot, and the setting direction of described omni-directional wheel and described autonomous shifting In default angle between the direct of travel of mobile robot；

Processor, electrically connects with described obliquity sensor and described omni-directional wheel encoder, for surveying according to described obliquity sensor The course angle measured, and the displacement that described omni-directional wheel encoder measurement obtains, determine that described autonomous mobile robot is worked as Front position, and by being compared with target location described position, the position obtaining correspondence according to Motion Controlling Model is mended The amount of repaying, and drive motor to proceed through the position of compensation according to described position compensation amount to move；

Motor, moves for proceeding through the position of compensation under the driving of described processor.

System the most according to claim 1, it is characterised in that described obliquity sensor uses inertial navigation technology to measure institute State dynamic roll angle and the angle of pitch of autonomous mobile robot, by reasonably installing, the roll angle of obliquity sensor is converted Course angle for described autonomous mobile robot.

System the most according to claim 1, it is characterised in that the value of described default angle is more than 0 °, less than 90 °.

System the most according to claim 1, it is characterised in that described omni-directional wheel encoder includes: two independently set The omni-directional wheel encoder put.

System the most according to claim 4, it is characterised in that described omni-directional wheel encoder includes: incremental encoder is with complete To wheel.

System the most according to claim 5, it is characterised in that described Motion Controlling Model is given by equation below:

$\left\{\begin{array}{c}v=v_r\cos e_{\mathrm{\θ}}+k_1{e}_t\\ \mathrm{\ω}={\mathrm{\ω}}_r+k_2{e}_n+k_3{e}_{\mathrm{\θ}}\end{array}\right.$

Wherein, v_rAnd ω_rFor preferable speed and angular velocity, v and ω is speed and the angular velocity of actual correction, e_tMiss for tangential Difference, e_nFor radial error, e_θFor angular error.

System the most according to claim 6, it is characterised in that the positional increment along x-axis and along y-axis can be by following public Formula is given:

$\left\{\begin{array}{c}\mathrm{\δ}x=\frac{\[{\mathrm{\ΔU}}_1+(L\·{\mathrm{sin\θ}}_1+B\·{\mathrm{cos\θ}}_1)\·\mathrm{\δ}\mathrm{\θ}\]\·{\mathrm{cos\θ}}_2}{\sin ({\mathrm{\θ}}_1+{\mathrm{\θ}}_2)}\\ -\frac{\[{\mathrm{\ΔU}}_2-(L\·{\mathrm{sin\θ}}_2+B\·{\mathrm{cos\θ}}_2)\·\mathrm{\δ}\mathrm{\θ}\]\·{\mathrm{cos\θ}}_1}{\sin ({\mathrm{\θ}}_1+{\mathrm{\θ}}_2)}\\ \mathrm{\δ}y=\frac{\[{\mathrm{\ΔU}}_1+(L\·{\mathrm{sin\θ}}_1+B\·{\mathrm{cos\θ}}_1)\·\mathrm{\δ}\mathrm{\θ}\]\·{\mathrm{sin\θ}}_2}{\sin ({\mathrm{\θ}}_1+{\mathrm{\θ}}_2)}\\ +\frac{\[{\mathrm{\ΔU}}_2-(L\·{\mathrm{sin\θ}}_2+B\·{\mathrm{cos\θ}}_2)\·\mathrm{\δ}\mathrm{\θ}\]\·{\mathrm{cos\θ}}_1}{\sin ({\mathrm{\θ}}_1+{\mathrm{\θ}}_2)}\end{array}\right.$

θ₁It is the angle between the setting direction of the first omni-directional wheel and described direct of travel, θ₂It it is the setting direction of the second omni-directional wheel And the angle between described direct of travel, L is the omni-directional wheel encoder axis distance to robotically-driven wheel axis, and B is two The half of the spacing of omni-directional wheel encoder, Δ U₁It is the reading increment of the first omni-directional wheel encoder, Δ U₂It is that the second omni-directional wheel is compiled The reading increment of code device, δ x is robot positional increment on the x-axis direction of predetermined plane rectangular coordinate system, and δ y is robot Positional increment on the y-axis direction of described predetermined plane rectangular coordinate system, δ θ is the course angle increment of robot.

8. the track localization method of an autonomous mobile robot, it is characterised in that including:

It is predetermined angle theta with the direct of travel of described autonomous mobile robot respectively according to two₁, θ₂The omni-directional wheel coding arranged Reading Δ U₁, Δ U₂, determine position x, the y of described autonomous mobile robot, determine institute according to the reading of obliquity sensor simultaneously State course angle θ of autonomous mobile robot；

By the current location (x, y, θ) of described autonomous mobile robot and ideal position (x_γ,y_γ,θ_γ) compare, obtain institute State the trajector deviation (Δ x, Δ y, Δ θ) of autonomous mobile robot；

Based on Lyapunov stability criterion, set up the Motion Controlling Model making trajectory error restrain, to described trajector deviation (Δ X, Δ y, Δ θ) compensate.

Method the most according to claim 8, it is characterised in that according to two respectively with the row of described autonomous mobile robot Entering direction is predetermined angle theta₁, θ₂The reading Δ U of the omni-directional wheel coding arranged₁, Δ U₂, determine described autonomous mobile robot According to the reading of obliquity sensor, position x, y, determine that course angle θ of described autonomous mobile robot includes simultaneously:

Described autonomous mobile robot is set up plane right-angle coordinate；

Read two described omni-directional wheel encoders and described obliquity sensor numerical value increment in time period Δ t in real time, point It is not recorded as Δ U₁, Δ U₂And δ θ；

According to the reading of described omni-directional wheel encoder, calculate described autonomous mobile robot in time period Δ t in described plane Positional increment δ x, the δ y of difference in the x-axis of rectangular coordinate system and y-axis；

By to described positional increment δ x, the integration of δ y, obtaining current location x, the y of described autonomous mobile robot, root simultaneously Course angle θ that described autonomous mobile robot is current is determined according to the reading of described obliquity sensor.

Method the most according to claim 8, it is characterised in that based on Lyapunov stability criterion, sets up and makes track by mistake The Motion Controlling Model of difference convergence, compensates described trajector deviation and includes:

Described autonomous mobile robot trajectory error under global coordinate system is transformed into the office of described autonomous mobile robot Under portion's coordinate system, obtain tangential error, normal error and angular error；

Based on Lyapunov stability criterion, set up the Motion Controlling Model making trajectory error restrain, revise actual to described oneself Speed that main mobile robot issues and angular velocity；

Perform motion command according to described Motion Controlling Model, recalculate the rotating speed of left and right sidesing driving wheel and be handed down to motor.