CN109900273B - Guide method and guide system for outdoor mobile robot - Google Patents
Guide method and guide system for outdoor mobile robot Download PDFInfo
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Abstract
A guide method and guide system for outdoor mobile robot includes (1) calculating current longitude, latitude and course angle of robot; (2) judging whether the robot receives a path planning result, namely a target guidance path coordinate point set; (3) updating the guide route to obtain a guide straight line function; (4) calculating a transverse deviation delta d and an angle deviation delta theta according to the longitude, the latitude, the course angle and the guide straight line function; (5) inputting the delta d and the delta theta into a digital PID controller as feedback observation to obtain a control quantity, and driving the mobile robot to move according to a guide route as the input quantity of a servo motor; (6) updating and calculating the current longitude, latitude and course angle of the robot; (7) judging whether the robot moves to reach the middle point or not; (8) and judging whether the target point is reached, and finishing the robot guidance if the target point is reached. The invention can correct the angle error and the transverse deviation, and is not only suitable for wide roads and fields, but also suitable for narrow roads and environments.
Description
Technical Field
The invention relates to a guiding method for an outdoor mobile robot, and belongs to the field of unmanned systems.
Background
As the concepts of "industrial 4.0" and "chinese manufacturing 2025" were successively proposed, the mobile robot technology was sufficiently developed. In recent years, mobile robots are widely used in the fields of logistics transportation, sorting, unmanned parking, security patrol, service and the like. The guidance technology, one of the most important technologies of a mobile robot control system, is related to safety, reliability and efficiency of operation of a mobile robot. At present, relevant scholars at home and abroad mainly guide a mobile robot in the modes of vision, magnetic induction, laser, inertia, wireless positioning, satellite navigation, laser radar and the like.
Yufeng utilizes the monocular camera to extract lane line characteristics in the road in the intelligent vehicle monocular vision positioning based on road structure characteristics published in the automatic study, and calculates to obtain the translation vector and the rotation matrix of the intelligent vehicle relative to the lane line, so that the intelligent vehicle can be controlled to move in a feedback manner, and the intelligent vehicle can automatically advance according to the guidance of the lane line. The transformer substation inspection robot designed by Liushuai in the Master academic thesis of China "high robustness positioning method of transformer substation track robot" of North China Power university moves along the laid rail, and meanwhile, a positioning needle is designed at the designated position of the rail for positioning and controlling, the robot can perform inspection work in the rail laying range, and the positioning precision of the positioning needle reaches millimeter level. The transformer substation inspection robot designed in the university of north china electric power university master academic thesis "research and application of transformer substation equipment inspection robot system design scheme" in terms of happiness fewly adopts the mode of magnetic navigation, lays the magnetic stripe on the route that the robot walks, lays RFID on the magnetic stripe route simultaneously and fixes a position. The three modes of guidance control are simple and easy to realize, but all need to be transformed in a working area, the construction cost is high, the line is limited, and the robot is not flexible enough.
Zhang Ching et al in the invention of the national patent "agricultural machinery automatic navigation control method based on dual-antenna GNSS and preview tracking model" adopt the sectional adaptive forward-looking distance related to speed as the parameter in the preview tracking model method to track and control the path of the agricultural machinery. The method is easy to realize engineering, can ensure that the advancing direction of the carrier always faces a target point to achieve the aim of guiding control, but excessively depends on the accuracy of a course angle, only can correct angle deviation, and cannot correct transverse deviation with a target track, so that space waste required by carrier motion is caused.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the method and the system for guiding the outdoor mobile robot overcome the defects of the prior art, receive a coordinate point set of a planned path, sequentially generate a plurality of sections of guide paths, simultaneously position and fix the attitude by differential satellite/inertia combination, calculate and obtain the transverse deviation and the angle deviation of the mobile robot relative to the guide paths, feed the transverse deviation and the angle deviation back to motion control to eliminate the deviation, and realize that the mobile robot travels according to the planned path.
The technical solution of the invention is as follows:
a guiding method for an outdoor mobile robot comprises the following steps:
(1) calculating to obtain the current longitude lambda, latitude L and course angle psi of the robot through a differential satellite/inertial integrated navigation system arranged on the robot;
(2) judging whether the robot receives a path planning result, namely a target guidance path coordinate point set { (lambda)1,L1)，…，(λn,Ln)}n≥2If yes, initializing the guide route count index to 2 and entering the step (3), otherwise, returning to the step (1);
(3) updating the guide route to obtain a guide straight line function;
(4) calculating a transverse deviation delta d and an angle deviation delta theta according to the longitude lambda, the latitude L, the course angle psi and a guide straight line function output by the differential satellite/inertial integrated navigation system on the robot;
(5) and inputting the delta d and the delta theta into a digital PID controller as feedback observation to obtain a control quantity u (t) which is used as an input quantity of a servo motor to drive the mobile robot to move according to a guide route:
(6) enabling the differential satellite/inertial integrated navigation system to update and calculate the current longitude lambda, latitude L and heading angle psi of the robot;
(7) judging whether the robot moves to reach the middle point (lambda)index,Lindex) If the result is reached, the step (8) is carried out, otherwise, the step (4) is returned;
(8) judging whether the final target point (lambda) is reachedn,Ln) And (4) finishing the robot guidance if the final target point is reached, or adding 1 to the index and returning to the step (3) to update the guidance route.
The step (3) updates the guidance route to obtain a guidance straight line function, which specifically comprises:
(3.1) the starting point of the guidance route is (lambda)index-1,Lindex-1) End point is (lambda)index,Lindex)；
(3.2) calculating 0 of the guidance straight line function a · λ + b · L +1 from the start point and the end point:
the step (4) of calculating the lateral deviation delta d and the angle deviation delta theta specifically comprises the following steps:
the digital PID controller in the step (5) is expressed as
Wherein, Kp、Ki、KdPID control parameters are obtained through test debugging; e (t) is the deviation at time t.
The step (7) judges that the reached conditions are as follows:
robot and target point (lambda)index,Lindex) The distance between the two is not greater than a preset value M, namely:
the value range of the preset value M is 0.2M-1M.
The step (8) judges whether or not the final target point (lambda) is reachedn,Ln) That is, it is determined whether index is equal to n, and if index is equal to n, the final target point is reached.
A guidance system implemented based on the outdoor mobile robot guidance method comprises:
the integrated navigation resolving module comprises: the system is used for calculating and obtaining the current longitude lambda, latitude L and course angle psi of the robot through a differential satellite/inertial integrated navigation system installed on the robot;
a path planning judging module: used for judging whether the robot receives a path planning result, namely a target guidance path coordinate point set { (lambda)1,L1)，…，(λn,Ln)}n≥2If yes, initializing the guide route count index to 2;
a guiding route updating module: the system is used for updating the guide route to obtain a guide straight line function;
a deviation calculation module: the system is used for calculating a transverse deviation delta d and an angle deviation delta theta according to the longitude lambda, the latitude L, the course angle psi and a guidance straight line function output by the differential satellite/inertial integrated navigation system on the robot;
and a PID control module: the system is used for inputting the delta d and the delta theta into a digital PID controller as feedback observation to obtain a control quantity u (t) which is used as the input quantity of a servo motor to drive the mobile robot to move according to a guide route;
a path midpoint judging module: for judging whether the robot moves to an intermediate point (λindex,Lindex)；
A path end point judging module: for judging whether a final target point (lambda) is reachedn,Ln) And if the final target point is reached, the robot guidance is finished.
The guiding route updating module updates the guiding route to obtain a guiding straight line function, and specifically comprises the following steps:
(3.1) the starting point of the guidance route is (lambda)index-1,Lindex-1) End point is (lambda)index,Lindex)；
(3.2) calculating 0 of the guidance straight line function a · λ + b · L +1 from the start point and the end point:
the deviation calculation module calculates a lateral deviation delta d and an angle deviation delta theta, and specifically comprises the following steps:
the digital PID controller is represented as
Wherein, Kp、Ki、KdPID control parameters are obtained through test debugging; e (t) is the deviation at time t.
The path midpoint judging module judges the arriving conditions as follows:
robot and target point (lambda)index,Lindex) The distance between the two is not greater than a preset value M, namely:
the path end point judging module judges whether the robot reaches a final target point (lambda)n,Ln) Specifically, the judgment index isIf not, the final target point is reached if index is equal to n.
Compared with the prior art, the invention has the beneficial effects that:
(1) the traditional modes of tracking the lane lines, laying the rails, laying the magnetic tapes and the like by means of visual guidance are limited in the range of activity by the arrangement of the lane lines, the rails and the magnetic tapes, and the construction cost is high and is not flexible enough, so that the invention can cover the range of mapped maps, and is easier and more flexible than the mode of adding the lane lines;
(2) the existing satellite/inertia combined guidance method adopts a homing guidance mode, and ensures that the robot always moves towards a target point by correcting an angle error, so that a moving road needs to be wide enough or a coordinate point set needs to be dense enough.
Drawings
FIG. 1 is a block diagram of a robotic movement system;
FIG. 2 is a diagram illustrating pilot parameters according to the present invention;
FIG. 3 is a flow chart of the method of the present invention;
fig. 4 is a schematic diagram of the movement effect.
Detailed Description
The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.
The guidance system of the invention consists of an electronic map, a path planning system, a deviation calculation unit and a differential satellite/inertial integrated navigation system, as shown in figure 1. The electronic map comprises a plurality of longitude and latitude coordinate sets in a moving range and connectivity among the coordinates obtained through mapping. And the path planning system generates a planning path according to the longitude and latitude calculated by the electronic map and the guidance system and the longitude and latitude of the target point. The path is composed of a sequence of coordinate points and the sequence of coordinate points is sent to the deviation calculation unit in sequence. The deviation calculation unit generates a plurality of sections of guide straight lines according to the planned coordinate point set, calculates the transverse deviation and the angle deviation relative to the guide straight lines according to the longitude and latitude and the course angle of the robot combined by the differential satellite/inertia, guides the robot in sections as shown in figure 2, calculates the control quantity according to the transverse deviation and the angle deviation, eliminates the deviation in a closed loop mode, and realizes the guide movement of the mobile robot according to the planned route. The mobile robot using the method has flexible movement, does not need to modify the use environment, and reduces the cost; the method is convenient for engineering application, not only can correct the angle deviation from the target point, but also can correct the transverse distance deviation from the guide path, and occupies less space.
The deviation calculation unit receives a planned path coordinate point set sent by the path planning system, the longitude and latitude of the differential satellite receiver and the acceleration and the angular velocity of the inertia measurement combination, calculates the transverse deviation and the angular deviation of the robot relative to the planned path, drives the motor to eliminate the deviation, and realizes that the robot runs along the planned path, wherein the detailed working flow is shown in fig. 3:
(1) calculating to obtain the current longitude lambda, latitude L and course angle psi of the robot through a differential satellite/inertial integrated navigation system arranged on the robot; the longitude, the latitude and the course angle are solved through the inertial navigation cycle in the integrated navigation system, the longitude and the latitude observed by the differential satellite navigation are combined and solved through a Kalman filter, and the high-precision longitude, latitude and course angle are obtained.
(2) Judging whether the robot receives a path planning result, namely a target guidance path coordinate point set { (lambda)1,L1)，…，(λn,Ln)}n≥2If yes, initializing the guide route count index to 2 and entering the step (3), otherwise, returning to the step (1); the set of coordinate points associated with the target guide path is provided by the path planning system, as shown in fig. 1. The path planning system calculates an optimal path from point to point by adopting a path planning algorithm, such as an A-x algorithm, a Dijkstra algorithm and the like, according to an electronic map with coordinate points and connectivity.
(3) Updating the guide route to obtain a guide straight line function: the guide straight line function is obtained according to the principle of determining a straight line from two points.
(3.1) the starting point of the guidance route is (lambda)index-1,Lindex-1) End point is (lambda)index,Lindex)；
(3.2) calculating 0 of the guidance straight line function a · λ + b · L +1 from the start point and the end point:
(4) calculating a transverse deviation delta d and an angle deviation delta theta according to the longitude lambda, the latitude L, the heading angle psi and a guidance straight line function output by the differential satellite/inertial integrated navigation system on the robot: the deviation is obtained from the geometric relationship between the point and the straight line.
(5) And inputting the delta d and the delta theta into a digital PID controller as feedback observation to obtain a control quantity u (t) which is used as an input quantity of a servo motor to drive the mobile robot to move according to a guide route: and the digital PID controller calculates the control quantity according to the current value, the accumulated value and the differential value of the deviation quantity and the corresponding PID parameters. The control quantity u (t) is determined according to a motion control model of the mobile robot, e.g. c may be the forward velocity v of the mobile robotfVelocity v in the right directionrCourse angular velocity omegayawComposition, i.e. u (t) ═ vf vr ωyaw]T。
Wherein Kp、Ki、KdPID control parameters are obtained through test debugging; e (t) is the deviation at time t.
(6) Enabling the differential satellite/inertial integrated navigation system to update and calculate the current longitude lambda, latitude L and heading angle psi of the robot;
(7) judging whether the robot moves to reach the middle point (lambda)index,Lindex) And (4) if the step (8) is reached, otherwise, returning to the step (4):
robot and target point (lambda)index,Lindex) The distance between the two is not greater than a preset value M, namely:
the value range of the preset value M is 0.2M-1M.
(8) Judging whether the final target point (lambda) is reachedn,Ln) That is, it is determined whether index is equal to n, and if index is equal to n, the final target point is reached. And (5) finishing the robot guidance if the final target point is reached, or adding 1 to the index and returning to the step (3) to update the guidance route.
Further, the present invention also provides an outdoor mobile robot guidance system, including:
the integrated navigation resolving module comprises: the system is used for calculating and obtaining the current longitude lambda, latitude L and course angle psi of the robot through a differential satellite/inertial integrated navigation system installed on the robot;
a path planning judging module: used for judging whether the robot receives a path planning result, namely a target guidance path coordinate point set { (lambda)1,L1)，…，(λn,Ln)}n≥2If yes, initializing the guide route count index to 2;
a guiding route updating module: the system is used for updating the guide route to obtain a guide straight line function;
a deviation calculation module: the system is used for calculating a transverse deviation delta d and an angle deviation delta theta according to the longitude lambda, the latitude L, the course angle psi and a guidance straight line function output by the differential satellite/inertial integrated navigation system on the robot;
and a PID control module: the system is used for inputting the delta d and the delta theta into a digital PID controller as feedback observation to obtain a control quantity u (t) which is used as the input quantity of a servo motor to drive the mobile robot to move according to a guide route;
a path midpoint judging module: for judging whether the robot moves to reach the middle point (lambda)index,Lindex)；
Route end point discrimination moduleBlock (2): for judging whether a final target point (lambda) is reachedn,Ln) And if the final target point is reached, the robot guidance is finished.
Compared with the traditional method of relying on visual guidance, the method can cover the mapped map range, and is easier and more flexible than the method of adding lane lines; the invention can correct the angle error and the transverse deviation, and is not only suitable for wide roads and fields, but also suitable for narrow roads and environments.
The method and the system are adopted in the guide motion test of the outdoor robot at a certain time, the purpose is to lead the mobile robot to guide and move according to a planned path, the moving effect is shown in figure 4, the moving track of the robot is basically a straight line between two map coordinates and basically coincides with the guide path, and the purpose of guide control is achieved.
Those skilled in the art will appreciate that the invention may be practiced without these specific details.
Claims (7)
1. A guide method for an outdoor mobile robot is characterized by comprising the following steps:
(1) calculating to obtain the current longitude lambda, latitude L and course angle psi of the robot through a differential satellite/inertial integrated navigation system arranged on the robot;
(2) judging whether the robot receives a path planning result, namely a target guidance path coordinate point set { (lambda)1,L1)，…，(λn,Ln)}n≥2If yes, initializing the guide route count index to 2 and entering the step (3), otherwise, returning to the step (1);
(3) updating the guide route to obtain a guide straight line function;
(4) calculating a transverse deviation delta d and an angle deviation delta theta according to the longitude lambda, the latitude L, the course angle psi and a guide straight line function output by the differential satellite/inertial integrated navigation system on the robot;
(5) and inputting the delta d and the delta theta into a digital PID controller as feedback observation to obtain a control quantity u (t) which is used as an input quantity of a servo motor to drive the mobile robot to move according to a guide route:
(6) enabling the differential satellite/inertial integrated navigation system to update and calculate the current longitude lambda, latitude L and heading angle psi of the robot;
(7) judging whether the robot moves to reach the middle point (lambda)index,Lindex) If the result is reached, the step (8) is carried out, otherwise, the step (4) is returned;
(8) judging whether the final target point (lambda) is reachedn,Ln) If the target point is reached, ending the robot guidance, and otherwise adding 1 to the index and returning to the step (3) to update the guidance route;
the step (3) updates the guidance route to obtain a guidance straight line function, which specifically comprises:
(3.1) the starting point of the guidance route is (lambda)index-1,Lindex-1) End point is (lambda)index,Lindex)；
(3.2) calculating 0 of the guidance straight line function a · λ + b · L +1 from the start point and the end point:
the step (4) of calculating the lateral deviation delta d and the angle deviation delta theta specifically comprises the following steps:
the digital PID controller in the step (5) is expressed as
Wherein, Kp、Ki、KdPID control parameters are obtained through test debugging; e (t) is the deviation at time t.
2. The guiding method of an outdoor mobile robot as claimed in claim 1, wherein: the step (7) judges that the reached conditions are as follows:
robot and target point (lambda)index,Lindex) The distance between the two is not greater than a preset value M, namely:
3. the guiding method of an outdoor mobile robot as claimed in claim 2, wherein: the value range of the preset value M is 0.2M-1M.
4. The guiding method of an outdoor mobile robot as claimed in claim 2, wherein: the step (8) judges whether or not the final target point (lambda) is reachedn,Ln) That is, it is determined whether index is equal to n, and if index is equal to n, the final target point is reached.
5. A guidance system implemented based on the guidance method for an outdoor mobile robot of claim 1, characterized by comprising:
the integrated navigation resolving module comprises: the system is used for calculating and obtaining the current longitude lambda, latitude L and course angle psi of the robot through a differential satellite/inertial integrated navigation system installed on the robot;
a path planning judging module: used for judging whether the robot receives a path planning result, namely a target guidance path coordinate point set { (lambda)1,L1)，…，(λn,Ln)}n≥2If yes, initializing the guide route count index to 2;
a guiding route updating module: the system is used for updating the guide route to obtain a guide straight line function;
a deviation calculation module: the system is used for calculating a transverse deviation delta d and an angle deviation delta theta according to the longitude lambda, the latitude L, the course angle psi and a guidance straight line function output by the differential satellite/inertial integrated navigation system on the robot;
and a PID control module: the system is used for inputting the delta d and the delta theta into a digital PID controller as feedback observation to obtain a control quantity u (t) which is used as the input quantity of a servo motor to drive the mobile robot to move according to a guide route;
a path midpoint judging module: for judging whether the robot moves to reach the middle point (lambda)index,Lindex)；
A path end point judging module: for judging whether a final target point (lambda) is reachedn,Ln) And if the final target point is reached, the robot guidance is finished.
6. The guidance system of claim 5, wherein: the guiding route updating module updates the guiding route to obtain a guiding straight line function, and specifically comprises the following steps:
(3.1) the starting point of the guidance route is (lambda)index-1,Lindex-1) End point is (lambda)index,Lindex)；
(3.2) calculating 0 of the guidance straight line function a · λ + b · L +1 from the start point and the end point:
the deviation calculation module calculates a lateral deviation delta d and an angle deviation delta theta, and specifically comprises the following steps:
the digital PID controller is represented as
Wherein, Kp、Ki、KdPID control parameters are obtained through test debugging; e (t) is the deviation at time t.
7. The guidance system of claim 5, wherein: the path midpoint judging module judges the arriving conditions as follows:
robot and target point (lambda)index,Lindex) The distance between the two is not greater than a preset value M, namely:
the path end point judging module judges whether the robot reaches a final target point (lambda)n,Ln) Specifically, it is determined whether index is equal to n, and if index is equal to n, the final target point is reached.
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| CN114234968B (en) * | 2021-12-17 | 2023-12-05 | 江西洪都航空工业集团有限责任公司 | Mobile robot autonomous navigation method based on A star algorithm |
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