CN110221609A - Track deviation rectifying method based on two-dimensional code - Google Patents
Track deviation rectifying method based on two-dimensional code Download PDFInfo
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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
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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Abstract
The invention discloses a track deviation rectifying method based on two-dimensional codes, wherein the two-dimensional codes are linearly arranged along a Y axis at intervals, and the track deviation rectifying method comprises the following steps: the mobile robot moves to be flush with any two-dimension code on an X axis, the two-dimension code is taken as an initial two-dimension code, coordinate information of the initial two-dimension code is read, the position relation between the mobile robot and the initial two-dimension code is analyzed, whether the position relation is abnormal or not is judged, and if the position relation is abnormal, a corresponding deviation-rectifying mathematical model is obtained from a preset deviation-rectifying mathematical model library according to the position relation; and calculating the deviation correction parameters of the mobile robot according to the deviation correction mathematical model and the position relation, and moving the mobile robot to be flush with the next two-dimensional code on the X axis according to the deviation correction parameters. The invention has simple and flexible deviation rectifying process, low construction cost and low difficulty.
Description
Technical field
The present invention relates to Navigation Control technical fields, more particularly to the track method for correcting error based on two dimensional code.
Background technique
There are many navigation mode of mobile robot, use on the market at present have magnetic stripe navigation, magnetic nail with inertial navigation navigation,
SLAM vision guided navigation etc..Wherein magnetic stripe navigation limitation is too big, uses inflexible；Magnetic nail navigation needs to be embedded on ground
Magnetic nail, damages ground, difficulty of construction is big and not convenient for safeguarding；SLAM vision guided navigation cost is too high, and technology is not also very
It is mature.
Therefore, how the track method for correcting error of algorithm for design simple and flexible is industry technical problem urgently to be resolved.
Summary of the invention
Have the defects that limitation is big, at high cost, rectifying effect is poor to solve existing navigation mode, the present invention proposes base
In the track method for correcting error of two dimensional code.
The technical solution adopted by the present invention is that track method for correcting error of the design based on two dimensional code, two dimensional code blocking between Y-axis
Line arrangement, track method for correcting error includes: that moveable robot movement is extremely concordant in X-axis with any one two dimensional code, with the two dimension
Code is original two-dimensional code, reads the coordinate information of original two-dimensional code, analyzes the positional relationship of mobile robot and original two-dimensional code,
Judge whether positional relationship is abnormal, obtains corresponding entangle from preset correction Mathematic Model Library according to positional relationship if abnormal
Inclined mathematical model；According to correction mathematical model and positional relationship calculate mobile robot correction parameter, mobile robot according to
Correction parameter moves to concordant in X-axis with next two dimensional code.
Preferably, judge whether positional relationship is abnormal, and then mobile robot continues to move to according to current state if normal
It is concordant in X-axis with next two dimensional code.
Preferably, analyzing mobile robot and the positional relationship of original two-dimensional code includes: to be with the center of original two-dimensional code
Coordinate origin calculates the direction of travel and Y-axis of deviation e in X-axis of mobile robot and original two-dimensional code, mobile robot
Between course angle α, according to the positional relationship of positive and negative the analysis mobile robot and original two-dimensional code of deviation e and course angle α.
Preferably, the positive negative judgement mobile robot of deviation e and course angle α and the positional relationship of original two-dimensional code include:
It is the first when e≤0, α < 0, mobile robot is to the left, course angle left avertence；It is second when e < 0, α=0, mobile machine
People is to the left, course angle is normal；It is the third as e<0, α>0, mobile robot is to the left, course angle right avertence；As e=0, α=0
It is the 4th kind, mobile robot is normal, course angle is normal；It is the 5th kind when e>0, α<0, mobile robot is to the right, course angle
Left avertence；It is the 6th kind when e > 0, α=0, mobile robot is to the right, course angle is normal；It is the 7th kind when e >=0, α > 0, it is mobile
Robot is to the right, course angle right avertence.
Preferably, judge positional relationship whether include: extremely when positional relationship for the first, second, the third, the 5th
Kind, the 6th kind and the 7th kind any one when, then judge positional relationship exception.
Preferably, judge whether positional relationship is abnormal further include: when positional relationship is the 4th kind, then judge positional relationship
Normally.
Preferably, the first correction mathematical model, the second correction mathematical model and third are equipped in correction Mathematic Model Library to entangle
Inclined mathematical model, positional relationship corresponding first correction mathematical model when being the third or the 5th kind, positional relationship be the first or
Third correction mathematical model is corresponded at the 7th kind, corresponding second correction model when positional relationship is second or the 6th kind.
Preferably, the first correction mathematical model includes:M is initial two
Code is tieed up to the distance of next two dimensional code, L is the center of two side drive wheel of mobile robot away from v arrives for moveable robot movement
Travel speed when original two-dimensional code；As α < θ, mobile robot continues to move to and next two dimensional code according to current state
It is concordant in X-axis；As α >=θ, a side drive wheel speed of mobile robot is pv, another side drive wheel speed is v, mobile
Robot motion to next two dimensional code in X-axis it is concordant after, two side drive wheel speed are adjusted to v.
Preferably, positional relationship be the third when from correction Mathematic Model Library in obtain first correction mathematical model, when α >=
When θ, the correction parameter of mobile robot be left side drive wheel speed be v, right side drive wheel speed is pv.
Preferably, positional relationship be the 5th kind when from correction Mathematic Model Library in obtain first correction mathematical model, when α >=
When θ, the correction parameter of mobile robot be left side drive wheel speed be pv, right side drive wheel speed is v.
Preferably, the second correction mathematical model includes:M is distance of the original two-dimensional code to next two dimensional code,
The travel speed that L is the center of two side drive wheel of mobile robot when away from, v being moveable robot movement to original two-dimensional code；It moves
Mobile robot with a side drive wheel speed is v, another side drive wheel speed is mobile robot switching two after pv movement T time
The speed of wheel continues to move, moveable robot movement to next two dimensional code in X-axis it is concordant after, two side drive wheel speed are equal
It is adjusted to v.
Preferably, the second correction mathematical model is obtained when positional relationship is second from correction Mathematic Model Library, it is mobile
The correction parameter of robot be mobile robot with left side drive wheel speed be pv, right side drive wheel speed is v movement T time
Afterwards, mobile robot is again v with left side drive wheel speed, right side drive wheel speed is that pv continues to move.
Preferably, the second correction mathematical model is obtained when positional relationship is the 6th kind from correction Mathematic Model Library, it is mobile
The correction parameter of robot be mobile robot with left side drive wheel speed be v, right side drive wheel speed is pv movement T time
Afterwards, mobile robot is again pv with left side drive wheel speed, right side drive wheel speed is that v continues to move.
Preferably, third correction mathematical model includes: P3=P2,m
For original two-dimensional code to the distance of next two dimensional code, L is the center of two side drive wheel of mobile robot away from v is mobile machine
People moves to travel speed when original two-dimensional code；Mobile robot with a side drive wheel speed is v, another side drive wheel speed
For p1V moves T1After time, mobile robot adjusts the speed of two-wheeled, is v with a side drive wheel speed, another side drive wheel speed
Degree is p2V moves T2After time, mobile robot adjusts the speed of two-wheeled again, is p with a side drive wheel speed3V, the other side
Driving wheel speed be v continue to move, moveable robot movement to next two dimensional code in X-axis it is concordant after, two side drive wheels
Speed is adjusted to v.
Preferably, third correction mathematical model is obtained when positional relationship is the first from correction Mathematic Model Library, it is mobile
The correction parameter of robot be mobile robot with right side drive wheel speed be v, left side drive wheel speed is p1V moves T1Time
Afterwards, the speed of mobile robot adjustment two-wheeled, with right side drive wheel speed be v, left side drive wheel speed is p2V moves T2Time
Afterwards, mobile robot adjusts the speed of two-wheeled again, is p with right side drive wheel speed3V, left side drive wheel speed is v after reforwarding
It is dynamic.
Preferably, third correction mathematical model is obtained when positional relationship is the 7th kind from correction Mathematic Model Library, it is mobile
The correction parameter of robot be mobile robot with right side drive wheel speed for p1V, left side drive wheel speed is that v moves T1Time
Afterwards, the speed of mobile robot adjustment two-wheeled, is p with right side drive wheel speed2V, left side drive wheel speed is that v moves T2Time
Afterwards, mobile robot adjusts the speed of two-wheeled again, is v with right side drive wheel speed, left side drive wheel speed is p3V is after reforwarding
It is dynamic.
Compared with prior art, the present invention is previously provided with correction Mathematic Model Library, according to mobile robot traveling process
The middle two-dimensional barcode information scanned analyzes the positional relationship of current mobile robot, according to positional relationship from correction Mathematic Model Library
In transfer corresponding correction mathematical model and calculate correction parameter, process simple and flexible of rectifying a deviation or is printed on ground at two dimensional code Pasting
On face, construction cost is small, difficulty is low.
Detailed description of the invention
Below with reference to embodiment and attached drawing, the present invention is described in detail, in which:
Fig. 1 is the flow diagram of track method for correcting error in the present invention；
Fig. 2 is the schematic diagram of the first correction mathematical model in the present invention；
Fig. 3 is the schematic diagram of the second correction mathematical model in the present invention；
Fig. 4 is the schematic diagram of third correction mathematical model in the present invention.
Specific embodiment
As shown in Figure 1, track method for correcting error proposed by the present invention is based on two dimensional code, two dimensional code is arranged along Y-axis spaced linear,
Track method for correcting error includes: that moveable robot movement is extremely concordant in X-axis with any one two dimensional code, is initial with the two dimensional code
Two dimensional code, mobile robot have left side drive wheel and a right side drive wheel, and the speed of left side drive wheel and right side drive wheel can be with
It individually controls, is provided with camera in mobile robot, pass through camera and scan original two-dimensional code, read the seat of original two-dimensional code
Information is marked, the positional relationship of mobile robot and original two-dimensional code is analyzed, judges whether positional relationship is abnormal, if positional relationship is different
Often, then corresponding correction mathematical model is obtained from preset correction Mathematic Model Library according to positional relationship；If positional relationship is just
Often, then mobile robot continues to move to, mobile robot arrival concordant in X-axis with next two dimensional code according to current state
When next two dimensional code, this two dimensional code is original two-dimensional code, repeats scanning analysis movement above.It should be noted that mobile
Robot according to current state continue movement be to maintain mobile robot direction of travel it is constant, keep mobile robot two sides drive
The speed of driving wheel is constant.
The details in the method for correcting error of track is illustrated in detail below, the direction of travel of mobile robot, mobile machine
Travel speed v of the center away from L and mobile robot between two side drive wheel of people is known parameters.
Analysis mobile robot and the positional relationship of original two-dimensional code include: using the center of original two-dimensional code as coordinate system original
Point calculates the deviation e of mobile robot and original two-dimensional code in X-axis, mobile machine according to the coordinate information of original two-dimensional code
Course angle α between the direction of travel and Y-axis of people, according to the positive and negative analysis mobile robot and initial two of deviation e and course angle α
Tie up the positional relationship of code.Positional relationship has seven kinds, is the first when e≤0, α < 0, mobile robot is to the left, course angle left avertence；
It is second when e < 0, α=0, mobile robot is to the left, course angle is normal；It is the third as e<0, α>0, mobile robot
To the left, course angle right avertence；It is the 4th kind as e=0, α=0, mobile robot is normal, course angle is normal；It is when e>0, α<0
5th kind, mobile robot is to the right, course angle left avertence；Be the 6th kind when e > 0, α=0, mobile robot is to the right, course angle just
Often；It is the 7th kind when e >=0, α > 0, mobile robot is to the right, course angle right avertence.
Judge positional relationship whether include: extremely when positional relationship for the first, second, the third, the 5th kind, the 6th
Kind and when any one of the 7th kind, then judge positional relationship exception；When positional relationship is the 4th kind, then positional relationship is judged
Normally.
The first correction mathematical model, the second correction mathematical model and third correction mathematical modulo are equipped in correction Mathematic Model Library
Type, corresponding first correction mathematical model when positional relationship is the third or the 5th kind, when positional relationship is the first or the 7th kind
Corresponding third correction mathematical model, corresponding second correction model when positional relationship is second or the 6th kind.
As shown in Fig. 2, the first correction mathematical model includes:
After above formula conversion,
Wherein, R is arc radius, θ is circular arc angle, P is left and right wheels revolving speed ratio, m are original two-dimensional code to next
The distance of a two dimensional code, L are that the center of two side drive wheel of mobile robot away from, v is moveable robot movement to original two-dimensional code
When travel speed；
At that time, compensating movement is not done, because being at this time the reachable position close to two dimensional code according to current course angle, is mended
Repaying processing can make robot farther from next two dimensional code, and mobile robot continues to move to and next two according to current state
It is concordant in X-axis to tie up code；As α >=θ, a side drive wheel speed of mobile robot is pv, another side drive wheel speed is v,
Moveable robot movement to next two dimensional code in X-axis it is concordant after, two side drive wheel speed are adjusted to v.
Specifically, the first correction mathematical model is obtained when positional relationship is the third from correction Mathematic Model Library, works as α
When >=θ, the correction parameter of mobile robot be left side drive wheel speed be v, right side drive wheel speed is pv.Positional relationship is
The first correction mathematical model is obtained at five kinds from correction Mathematic Model Library, as α >=θ, the correction parameter of mobile robot is
Left side drive wheel speed is pv, right side drive wheel speed is v.
As shown in figure 3, the second correction mathematical model includes:
After above formula conversion,
Wherein M is the intermediate point for dividing m and e equally, and R1=R2, R1 are first segment arc radius, and R2 is second segment arc radius,
θ 1 is first segment circular arc angle, and θ 2 is second segment circular arc angle, and P is the revolving speed ratio of left and right wheels, and T is that trolley is run in first segment
Time, m be original two-dimensional code arrive next two dimensional code distance, L for two side drive wheel of mobile robot center away from v is
Travel speed when moveable robot movement is to original two-dimensional code.
After mobile robot with a side drive wheel speed is v, another side drive wheel speed is pv movement T time, that is, move
After robot motion to M point, the speed of mobile robot switching two-wheeled continues to move, and moveable robot movement is to next two
After dimension code is concordant in X-axis, two side drive wheel speed are adjusted to v.
Specifically, the second correction mathematical model is obtained when positional relationship is second from correction Mathematic Model Library, is moved
The correction parameter of mobile robot be mobile robot with left side drive wheel speed be pv, right side drive wheel speed is v movement T time
Afterwards, mobile robot is again v with left side drive wheel speed, right side drive wheel speed is that pv continues to move.
The second correction mathematical model is obtained when positional relationship is the 6th kind from correction Mathematic Model Library, mobile robot
Correction parameter be mobile robot with left side drive wheel speed be v, right side drive wheel speed is moving machine after pv movement T time
Device people is again pv with left side drive wheel speed, right side drive wheel speed is that v continues to move.
As shown in figure 4, third correction mathematical model includes:
After above formula conversion,P3=P2,
Wherein, M, N are trisection point, i.e., M, N do the vertical line of two dimensional code line, intersection point P, Q, then P, Q trisection in
Two dimensional code distance m, and at the point position N, the direction of travel of mobile robot is positive direction, and R1 is first segment arc radius, R2
For second segment arc radius, R3 is third section arc radius, and θ 1 is first segment circular arc angle, and θ 2 is second segment circular arc angle, θ 3
For third section circular arc angle, P1 is the revolving speed ratio of first segment left and right wheels, and P2 is the revolving speed ratio of second segment left and right wheels, and T1 is small
The time that vehicle is run in first segment, T2 are the time that trolley is run in second segment, and m is original two-dimensional code to next two dimensional code
Distance, L are that the center of two side drive wheel of mobile robot away from, v is that traveling when moveable robot movement arrives original two-dimensional code is fast
Degree.
Mobile robot with a side drive wheel speed is v, another side drive wheel speed is p1V moves T1After time, moving machine
Device people adjusts the speed of two-wheeled, and with a side drive wheel speed be v, another side drive wheel speed is p2V moves T2It is mobile after time
Robot adjusts the speed of two-wheeled again, is p with a side drive wheel speed3V, another side drive wheel speed is that v continues to move, and is moved
Mobile robot move to next two dimensional code in X-axis it is concordant after, two side drive wheel speed are adjusted to v.
Specifically, third correction mathematical model is obtained when positional relationship is the first from correction Mathematic Model Library, is moved
The correction parameter of mobile robot be mobile robot with right side drive wheel speed be v, left side drive wheel speed is p1V moves T1When
Between after, mobile robot adjust two-wheeled speed, with right side drive wheel speed be v, left side drive wheel speed is p2V moves T2When
Between after, mobile robot adjusts the speed of two-wheeled again, is p with right side drive wheel speed3V, left side drive wheel speed is v continuation
Movement.
Third correction mathematical model is obtained when positional relationship is the 7th kind from correction Mathematic Model Library, mobile robot
Correction parameter be mobile robot with right side drive wheel speed for p1V, left side drive wheel speed is that v moves T1After time, moving machine
Device people adjusts the speed of two-wheeled, is p with right side drive wheel speed2V, left side drive wheel speed is that v moves T2After time, moving machine
Device people adjusts the speed of two-wheeled again, is v with right side drive wheel speed, left side drive wheel speed is p3V continues to move.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (16)
1. a kind of track method for correcting error, which is characterized in that the two dimensional code is arranged along Y-axis spaced linear, the track correction side
Method includes:
Moveable robot movement is extremely concordant in X-axis with any two dimensional code, using the two dimensional code as original two-dimensional code, reads institute
The coordinate information for stating original two-dimensional code analyzes the positional relationship of the mobile robot Yu the original two-dimensional code；
Judge whether the positional relationship is abnormal, if abnormal according to the positional relationship from preset correction Mathematic Model Library
Obtain corresponding correction mathematical model；
The correction parameter of the mobile robot, the moving machine are calculated according to the correction mathematical model and the positional relationship
Device people moves to concordant in X-axis with next two dimensional code according to the correction parameter.
2. track method for correcting error as described in claim 1, which is characterized in that it is described to judge whether positional relationship is abnormal, if just
Mobile robot described in Chang Ze continues to move to concordant in X-axis with next two dimensional code according to current state.
3. track method for correcting error as described in claim 1, which is characterized in that the analysis mobile robot and described initial two
The positional relationship of dimension code includes: to calculate mobile robot and described initial two using the center of original two-dimensional code as coordinate origin
Course angle α of the code between the direction of travel and Y-axis of deviation e, mobile robot in X-axis is tieed up, according to deviation e and course angle α
The positive and negative analysis mobile robot and the original two-dimensional code positional relationship.
4. track method for correcting error as claimed in claim 3, which is characterized in that the positive negative judgement institute of the deviation e and course angle α
The positional relationship for stating mobile robot and the original two-dimensional code includes: when e≤0, α < 0 for the first, and mobile robot is inclined
Left, course angle left avertence；It is second when e < 0, α=0, mobile robot is to the left, course angle is normal；As e<0, α>0 Shi Wei
Three kinds, mobile robot is to the left, course angle right avertence；Be the 4th kind as e=0, α=0, mobile robot is normal, course angle just
Often；It is the 5th kind when e>0, α<0, mobile robot is to the right, course angle left avertence；It is the 6th kind when e > 0, α=0, moving machine
Device people is to the right, course angle is normal；It is the 7th kind when e >=0, α > 0, mobile robot is to the right, course angle right avertence.
5. track method for correcting error as claimed in claim 4, which is characterized in that it is described judge positional relationship whether include: extremely
When the positional relationship is the first, second, the third, the 5th kind, the 6th kind and the 7th kind any one when, then judge
The positional relationship is abnormal.
6. track method for correcting error as claimed in claim 4, which is characterized in that described to judge whether positional relationship also wraps extremely
It includes: when the positional relationship is the 4th kind, then judging that the positional relationship is normal.
7. track method for correcting error as claimed in claim 4, which is characterized in that be equipped with first in the correction Mathematic Model Library and entangle
Inclined mathematical model, the second correction mathematical model and third correction mathematical model, when the positional relationship is the third or the 5th kind
Corresponding first correction mathematical model, the positional relationship corresponds to third correction mathematical model when being the first or the 7th kind, described
Corresponding second correction model when positional relationship is second or the 6th kind.
8. track method for correcting error as claimed in claim 7, which is characterized in that it is described first correction mathematical model include:M is the original two-dimensional code to the distance of next two dimensional code, and L is described
The travel speed when center of two side drive wheel of mobile robot away from, v is the moveable robot movement to original two-dimensional code；When
When α < θ, the mobile robot continues to move to concordant in X-axis with next two dimensional code according to current state；When α >=
When θ, a side drive wheel speed of the mobile robot is pv, another side drive wheel speed is v, the moveable robot movement
To with next two dimensional code in X-axis it is concordant after, two side drive wheel speed are adjusted to v.
9. track method for correcting error as claimed in claim 8, which is characterized in that the positional relationship is entangled when being the third from described
The first correction mathematical model is obtained in inclined Mathematic Model Library, as α >=θ, the correction parameter of the mobile robot is left side drive
Driving wheel speed is v, right side drive wheel speed is pv.
10. track method for correcting error as claimed in claim 8, which is characterized in that from described when the positional relationship is the 5th kind
The first correction mathematical model is obtained in correction Mathematic Model Library, as α >=θ, the correction parameter of the mobile robot is left side
Driving wheel speed is pv, right side drive wheel speed is v.
11. track method for correcting error as claimed in claim 7, which is characterized in that it is described second correction mathematical model include:M is the original two-dimensional code to next two dimensional code
Distance, L is the center of two side drive wheel of mobile robot when away from, v being the moveable robot movement to original two-dimensional code
Travel speed；After the mobile robot with a side drive wheel speed is v, another side drive wheel speed is pv movement T time,
The speed of mobile robot switching two-wheeled continues to move, the moveable robot movement to next two dimensional code in X-axis
After going up concordantly, two side drive wheel speed are adjusted to v.
12. track method for correcting error as claimed in claim 11, which is characterized in that from described when the positional relationship is second
The second correction mathematical model is obtained in correction Mathematic Model Library, the correction parameter of the mobile robot is mobile robot with a left side
Side drive wheel speed is pv, right side drive wheel speed is after v moves T time, and the mobile robot is again with left side drive wheel speed
Degree is v, right side drive wheel speed is that pv continues to move.
13. track method for correcting error as claimed in claim 11, which is characterized in that from described when the positional relationship is the 6th kind
The second correction mathematical model is obtained in correction Mathematic Model Library, the correction parameter of the mobile robot is mobile robot with a left side
Side drive wheel speed is v, right side drive wheel speed is after pv moves T time, and the mobile robot is again with left side drive wheel speed
Degree is pv, right side drive wheel speed is that v continues to move.
14. track method for correcting error as claimed in claim 7, which is characterized in that third correction mathematical model includes: M is distance of the original two-dimensional code to next two dimensional code, and L is the mobile robot
The travel speed when center of two side drive wheels away from, v is the moveable robot movement to original two-dimensional code；The mobile machine
People with a side drive wheel speed is v, another side drive wheel speed is p1V moves T1After time, the mobile robot adjusts two-wheeled
Speed, with a side drive wheel speed be v, another side drive wheel speed is p2V moves T2After time, the mobile robot is again
The speed of secondary adjustment two-wheeled, is p with a side drive wheel speed3V, another side drive wheel speed is that v continues to move, the moving machine
Device people move to next two dimensional code in X-axis it is concordant after, two side drive wheel speed are adjusted to v.
15. track method for correcting error as claimed in claim 14, which is characterized in that from described when the positional relationship is the first
Third correction mathematical model is obtained in correction Mathematic Model Library, the correction parameter of the mobile robot is mobile robot with the right side
Side drive wheel speed is v, left side drive wheel speed is p1V moves T1After time, the speed of the mobile robot adjustment two-wheeled,
With right side drive wheel speed be v, left side drive wheel speed is p2V moves T2After time, the mobile robot adjusts two-wheeled again
Speed, be p with right side drive wheel speed3V, left side drive wheel speed is that v continues to move.
16. track method for correcting error as claimed in claim 14, which is characterized in that from described when the positional relationship is the 7th kind
Third correction mathematical model is obtained in correction Mathematic Model Library, the correction parameter of the mobile robot is mobile robot with the right side
Side drive wheel speed is p1V, left side drive wheel speed is that v moves T1After time, the speed of the mobile robot adjustment two-wheeled,
It is p with right side drive wheel speed2V, left side drive wheel speed is that v moves T2After time, the mobile robot adjusts two-wheeled again
Speed, with right side drive wheel speed be v, left side drive wheel speed is p3V continues to move.
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|---|---|---|---|---|
| CN113848981A (en) * | 2021-10-19 | 2021-12-28 | 中国民航大学 | Unmanned automatic aircraft air anti-collision method |
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