CN109189079A - Mobile Robotics Navigation control method based on GPS positioning - Google Patents
Mobile Robotics Navigation control method based on GPS positioning Download PDFInfo
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- CN109189079A CN109189079A CN201811304999.3A CN201811304999A CN109189079A CN 109189079 A CN109189079 A CN 109189079A CN 201811304999 A CN201811304999 A CN 201811304999A CN 109189079 A CN109189079 A CN 109189079A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The Mobile Robotics Navigation control method based on GPS positioning that the invention discloses a kind of obtains robot and works as prelocalization, robot headstock deflection and object location；Work as prelocalization and object location according to robot, calculate the angle of the two line and trunnion axis, in conjunction with robot headstock deflection, calculates motor operating parameter；According to motor operating parameter, driving motor positive and negative rotation within the set time；The running of motor operating parameter driving motor is updated, until robot reaches in target point threshold range.This invention simplifies experimentations, it is only necessary to which the Navigation Control for completing point-to-point does not need planning path in advance, improves the timeliness of robot navigation.
Description
Technical field
The present invention relates to mobile robot control technologies, and in particular to a kind of Mobile Robotics Navigation based on GPS positioning
Control method.
Background technique
With being constantly progressive for science and technology, robot using more and more extensive, almost penetrate into every field.In machine
In device people's control field, the Navigation Control of mobile robot is vital a part.Enterprise product design and colleges and universities' machine
It is all such as the intelligent inspection robot of large-scale substation based on the Navigation Control of mobile robot, intelligence that people, which controls experiment,
Energy automatic driving technology etc..Existing navigation control method technical threshold is high, and realization is relatively difficult, needs to expend a large amount of
Manpower and material resources, and college experiment teaching is of less demanding to navigation accuracy, can waste of resource using existing Navigation Control technology.
Summary of the invention
The Mobile Robotics Navigation control method based on GPS positioning that the purpose of the present invention is to provide a kind of, it is easy to accomplish,
It is used suitable for college experiment teaching.
The technical solution for realizing the aim of the invention is as follows: a kind of Mobile Robotics Navigation controlling party based on GPS positioning
Method includes the following steps:
Step 1 obtains robot when prelocalization, robot headstock deflection and object location；
Step 2 works as prelocalization and object location according to robot, calculates the angle of the two line and trunnion axis, in conjunction with
Robot headstock deflection calculates motor operating parameter；
Step 3, according to motor operating parameter, driving motor positive and negative rotation within the set time；
Step 4 repeats step 2,3, until robot reaches in target point threshold range.
As a kind of specific embodiment, the location information in step 1 includes longitude, latitude information.
As a kind of specific embodiment, in step 2, motor operating parameter is calculated method particularly includes:
Step 2.1, the system that the differential mobile-robot system of two-wheeled is abstracted into wheel, machine human body composition, establish one
Rank sequential machine human occupant dynamic model, as follows:
Wherein, x, y are respectively the longitude coordinate and latitude coordinate of mobile robot, u1For the differential of mobile robot displacement
Amount, u2For the micro component of robot angle, θ is robot headstock deflection (i.e. using due east direction as X-axis positive direction, robot
Headstock and X-axis positive direction angle, the angle that gyroscope directly measures is the angle of robot headstock and direct north, this is surveyed
The angle obtained addsAs deflection)；
Step 2.2 works as prelocalization and object location line according to robot, calculates the angle of line and trunnion axis, really
The relationship to set the goal between the state space and current location of position；
The angle theta of line and trunnion axis*Are as follows:
θ*=atan2 (y*- y, x*-x)
Wherein, (x, y) is robot current positioning coordinate, (x*,y*) it is object location coordinate；
Relationship between the state space and current location of target position are as follows:
(k is 0 Arbitrary Coefficient)
Wherein, qlFor the state space of target position, it is expressed as the coordinate i.e. longitude x comprising target point1With latitude y1Column
Vector；
If Δ1=x1- x, Δ2=y1- y arranges above-mentioned formula and obtains:
At this point, can be obtained by u by a series of above-mentioned analyses1,u2, it is as a result as follows:
u1,u2By controller design, respectively to u1It is engineering tangent, u2Two values are obtained after doing scale operation processing
w1,w2:
Wherein, k1、k2For non-zero constant, numerical value is chosen according to the actual situation；
Step 2.3, the motion state parameters Ω for calculating left and right motor1、Ω2:
It solves:
As a kind of specific embodiment, in step 3, the direction of motor rotation depends on the symbol of motor operating parameter,
It is rotated forward when positive sign, when negative sign inverts, and it is the integer of motor operating parameter that motor speed, which depends on the numerical value of motor operating parameter,
Times.
As a kind of specific embodiment, in step 4, target point threshold range is the given threshold using target point as the center of circle
For the border circular areas of radius.
Compared with prior art, the present invention its remarkable advantage are as follows: this invention simplifies experimentations, it is only necessary to complete point and arrive
The Navigation Control of point, does not need planning path in advance, improves the timeliness of robot navigation.
Detailed description of the invention
Fig. 1 is localization for Mobile Robot acquisition of information flow chart of the present invention.
Fig. 2 is Mobile Robotics Navigation control algolithm flow chart of the present invention.
Fig. 3 is that mobile robot of the present invention runs control flow chart.
Fig. 4 is experiment simulation figure of the invention.
Fig. 5 is that the present invention is based on the overall flow figures of the Mobile Robotics Navigation control method of GPS positioning.
Specific embodiment
The present invention program is further illustrated in the following with reference to the drawings and specific embodiments.
As shown in Figure 1, the Mobile Robotics Navigation control method based on GPS positioning, includes the following steps:
Module receives the location information (longitude, latitude) of target point by wireless communication for step 1, master board, and it is fixed to read
Position module send when prelocalization (precision, latitude) and robot headstock deflection, storage are got off.As shown in Figure 1, specifically including
Following steps:
Step 1-1, the precise location information of a known point chooses it as target point, inputs this point in controlling terminal
After information, module is sent to master control borad by wireless communication, and master control borad stores, convenient next to use.
Step 1-2, the location algorithm built in GPS sensor use gets the current positioning longitude and latitude of mobile robot
Degree, is sent to high-precision attitude measurement module by serial communication.Attitude measurement module measures machine with the gyroscope built in itself
Device people headstock and trunnion axis angle (angle that practical gyroscope directly measures is the angle of headstock and direct north, in addition
That is deflection), and by programming by deflection and localization information fusion, then communicated by I2C and be sent to master board, main control
Plate receives, and storage is got off.
Step 2, mobile robot master control borad resolve to obtain two after receiving storage above- mentioned information using Navigation Control algorithm
The operating parameter of a motor, storage are got off, and next stage is sent to.As shown in Fig. 2, specifically includes the following steps:
Step 2-1, master control borad obtains coordinate of ground point, starting point coordinate, robot headstock deflection, utilizes mathematical formulae
The angle of target point Yu starting point line and trunnion axis is calculated, stores these data informations.
Step 2-2, above data is passed through calculates by the Navigation Control of foundation of unicycle tracking control theory
Method processing calculates and obtains one group of operating parameter Ω for suitably controlling two motors1、Ω2, and store；As shown in Fig. 2, mobile
Steps are as follows for robot navigation's control algolithm:
Step 2-2-1, the system that the differential mobile-robot system of two-wheeled is abstracted into wheel, machine human body composition first,
A single order sequential machine human occupant dynamic model is established, as follows:
Wherein, x, y are respectively the longitude coordinate and latitude coordinate of mobile robot, u1For the differential of mobile robot displacement
Amount, u2For the micro component of robot angle, θ is robot headstock deflection (i.e. using due east direction as X-axis positive direction, robot
Headstock and X-axis positive direction angle, the angle that gyroscope directly measures is the angle of robot headstock and direct north, this is surveyed
The angle obtained addsAs deflection)；
If mobile robot works as prelocalization (x, y) and object location (x*,y*), two o'clock line and trunnion axis can be obtained
Angle theta*Are as follows:
θ*2 (y of=atan*- y, x*-x)
Wherein, (x, y) is robot current positioning coordinate, (x*,y*) it is object location coordinate；
Relationship between the state space and current location of target position are as follows:
(k is 0 coefficient)
Wherein, qlIt indicates the state space of target position, the i.e. coordinate of target point, is expressed as passing through comprising coordinate of ground point
Spend x1With latitude y1Column vector；
If Δ1=x1- x, Δ2=y1- y, arranging above-mentioned formula can obtain:
At this point, can be obtained by u by a series of above-mentioned analyses1,u2, it is as a result as follows:
u1,u2By controller design respectively by u1It is engineering tangent, u2Two values w is obtained after doing scale operation processing1,
w2:
Wherein, k1、k2It is the constant for not being 0, repeatedly being debugged according to Theory of Stability and artificial debugging and field experiment can
Take k1=50, k2=50, experimenter can also choose appropriate value according to the actual situation；
Step 2-2-3, reference papers Fuzzy Logic Tracking Control for Unicycle Mobile
The Unicycle Tracking Control that Robots is mentioned is theoretical, the motion state parameters Ω of available left and right motor1、
Ω2With w1、w2Relational expression, it is as follows:
It solves:
The parameter value that motor operating state can be obtained by above formula, due to above formula coefficient also with robot wheel
Radius, the wheelspan between two-wheeled is related, and coefficient should beMultiple, according to the actual conditions of the mobile robot used, in reality
Coefficient is taken 3 when testing, is conducive to stable operation during robot navigation in this way；
After step 3, the motor drive ic receive the operating parameter that master control borad is issued by analog signal, control motor
Steering and revolving speed, make motor operation.As shown in figure 3, mobile robot in driving motor, is transported it is first determined whether obtaining motor
Row parameter follows the steps below after operating parameter is written by master control borad in confirmation motor drive ic:
It step 3-1, is two parts by the value decomposition of motor operating parameter, sign respectively represents motor and rotates forward and anti-
Turn, absolute value represents motor speed；
Step 3-2, motor drive ic starts to control left and right motor by specified revolving speed and rotation direction operation, moving machine
Device people starts to advance, retreats, turns left, turning right, pivot stud, advances towards specified target point.Specify five target points, robot
Navigation Control algorithm simulating effect is as shown in Figure 4.
Step 4, robot are in moving process, its current positioning coordinate, deflection and two o'clock line and horizontal sextant angle
All constantly changing, main controller, with 1ms time delay interval, is constantly updated motor movement state, adjusted in time using Navigation Control algorithm
Whole mobile robot operation, completes the Navigation Control task of robot, master controller is constantly sent out to controlling terminal in moving process
Robot real-time positioning information is sent, specifically includes the following steps:
Step 4-1, robot movement is not along straight line, robot current positioning coordinate, deflection and and target point
Line and the angle of trunnion axis constantly changing, at this time need to update with the time delay interval of 1ms and calculate motor operating parameter,
Repeat step 2-3, adjust robot traffic direction in time, to target point before it is close.
Step 4-2, when mobile robot enters using target point as the center of circle, ε (customized minimum) is one of radius
When minimum round domain, master board sends stop signal to motor, until master control borad is received from the next of controlling terminal transmission
Target point, repetition step 1,2,3.
Step 4-3, mobile robot passes through wireless communication module to object run in the process and sends in real time to controlling terminal
Whether positioning and direction angle information accurately reach target point from numerically clear view robot in terminal, and guarantee has been tested
At there is reliable foundation.After controlling terminal receives data, storage is got off, and can draw robot arbitrary point to target point with software
Running route and deflection change over time figure.
Claims (5)
1. a kind of Mobile Robotics Navigation control method based on GPS positioning, which comprises the steps of:
Step 1 obtains robot when prelocalization, robot headstock deflection and object location；
Step 2 works as prelocalization and object location according to robot, the angle of the two line and trunnion axis is calculated, in conjunction with machine
People's headstock deflection calculates motor operating parameter；
Step 3, according to motor operating parameter, driving motor positive and negative rotation within the set time；
Step 4 repeats step 2,3, until robot reaches in target point threshold range.
2. the Mobile Robotics Navigation control method according to claim 1 based on GPS positioning, which is characterized in that step 1
In location information include longitude, latitude information, robot deflection.
3. the Mobile Robotics Navigation control method according to claim 1 based on GPS positioning, which is characterized in that step 2
In, calculate motor operating parameter method particularly includes:
Step 2.1, the system that the differential mobile-robot system of two-wheeled is abstracted into wheel, machine human body composition, establish single order company
Continuous Dynamic Models of Robot Manipulators, as follows:
Wherein, x, y are respectively the longitude coordinate and latitude coordinate of mobile robot, u1For the micro component of mobile robot displacement, u2
For the micro component of robot angle, θ be robot headstock deflection (i.e. using due east direction as X-axis positive direction, robot headstock with
X-axis positive direction angle, the angle that gyroscope directly measures are the angle of robot headstock and direct north, the angle that this is measured
Degree addsAs deflection)；
Step 2.2 works as prelocalization and object location line according to robot, calculates the angle of line and trunnion axis, determines mesh
Relationship between the state space and current location of cursor position；
The angle theta of line and trunnion axis*Are as follows:
θ*=atan2 (y*- y, x*-x)
Wherein, (x, y) is robot current positioning coordinate, (x*,y*) it is object location coordinate；
Relationship between the state space and current location of target position are as follows:
Wherein, k is 0 constant, qlFor the state space of target position, it is expressed as comprising coordinate of ground point i.e. longitude x1With
Latitude y1Column vector；
If Δ1=x1- x, Δ2=y1- y arranges above-mentioned formula and obtains:
At this point, can be obtained by u by a series of above-mentioned analyses1,u2, it is as a result as follows:
To u1It is engineering tangent, u2Two values w is obtained after doing scale operation processing1,w2:
Wherein, k1、k2For non-zero constant, numerical value is chosen according to the actual situation；
Step 2.3, the motion state parameters Ω for calculating left and right motor1、Ω2:
It solves:
4. the Mobile Robotics Navigation control method according to claim 1 based on GPS positioning, which is characterized in that step 3
In, the direction of motor rotation depends on the symbol of motor operating parameter, and when positive sign rotates forward, and when negative sign inverts, and motor speed depends on
It is the integral multiple of motor operating parameter in the numerical value of motor operating parameter.
5. the Mobile Robotics Navigation control method according to claim 1 based on GPS positioning, which is characterized in that step 4
In, target point threshold range is using target point as the center of circle, and given threshold is the border circular areas of radius.
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Cited By (5)
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| CN111006655A (en) * | 2019-10-21 | 2020-04-14 | 南京理工大学 | Multi-scene autonomous navigation positioning method for airport inspection robot |
| CN113050614A (en) * | 2019-12-26 | 2021-06-29 | 炬星科技（深圳）有限公司 | Method, device and storage medium for autonomous robot execution capacity management |
| CN113282078A (en) * | 2021-04-12 | 2021-08-20 | 西南大学 | Method, system and application for directly navigating and moving mobile robot to index target point |
| CN113323068A (en) * | 2021-04-29 | 2021-08-31 | 中联重科土方机械有限公司 | Control method for engineering machinery, processor and engineering machinery |
| CN116880511A (en) * | 2023-08-24 | 2023-10-13 | 烟台大学 | Position control method, system and equipment for wheeled mobile robot with gesture planning |
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