1. Mobile robot motion control
"The world's martial arts, only fast is not broken", mobile robots generally control the wheels through the motor to complete the movement. As the end fulfillment mechanism, the motion control of the motor requires fast response (millisecond-level echo time) and high precision. Now, the typical motor control is a cascade control system, consisting of three closed-loop feedbacks, namely the azimuth loop, the speed loop, and the current loop.
The control module is essentially a nested of three PIDs, and now more than 90% of the control system uses PIDs. In addition, regarding the driving wheel motor of mobile robots, the speed of the motor is often controlled by the control of the motor speed, and there is no external azimuth ring at this time, only two rings of speed ring and current ring are required.
2. Robot motion model
The model is the foundation of the whole control system, and the robot motion model describes the relationship between the speed of the mobile robot's driving wheel and the overall motion of the robot. There are three common robot motion models: single steering wheel, dual wheel differential, and dual steering wheel.
3. Path stalking
The classic problem in control theory, that is, given a track, the mobile robot needs to walk along the track as much as possible, and the control policy is to minimize the error between the robot's practical walking route and the planned track.
* The abbreviated method of tracking is the feedback control idea, that is, to obtain the error Δα of the tangent direction of the current robot motion direction and the orbit curve, and to obtain the interval error Δβ between the robot motion center and the orbit curve, and introduce the two into the closed-loop control as feedback quantities, and use a certain share of the control rate to calculate the required linear velocity and angular velocity.
4. Multi-machine scheduling
In practical scenarios, multiple robots are often required to process multiple tasks online at the same time, and the multi-machine scheduling system needs to optimize the walking path of each mobile robot to avoid deadlocks, that is, the paths are occupied by each other and cannot be released independently.
In addition to meeting the basic requirements of no deadlock, the multi-machine scheduling system needs to reasonably allocate missions to each mobile robot to improve the overall mission performance power, and at the same time select the appropriate time to allocate idle mobile robots for active charging.
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Acknowledging security
●Acknowledging that the robot's device is in normal condition.
● Acknowledge that there are no personnel within the robot's range of action.
Section 2 ...
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For details, please refer to "Chapter 3 Initiation and Closure (P.11)".
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For more information, please refer to ...
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