基于视觉图像的全向移动机器人轨迹跟踪控制研究

Research on Omnidirectional Mobile Robot Trajectory Tracking Control Based on Visual Image

机器人轨迹节点跟踪比较难,导致机器人实际轨迹偏离期望轨迹,所以设计基于视觉图像的全向移动机器人轨迹跟踪控制方法;构建全向移动机器人的运动学数学模型,以此确定机器人移动轨迹数学模型;以移动轨迹数学模型为基础,按照视觉图像划分标准对全向移动机器人运动图像的分割,通过分离目标节点的方式提取运动学特征参量,完成机器人轨迹节点跟踪处理;结合节点跟踪处理结果,将运动学不等式与误差向量作为机器人轨迹跟踪控制的约束条件,利用滑模变结构搭建轨迹跟踪控制模型,实现全向移动机器人轨迹跟踪控制;对比实验结果表明,所设计的方法应用后,全向移动机器人角速度曲线、线速度曲线与期望运动轨迹曲线之间的贴合程度均超过90%,满足全向移动机器人轨迹跟踪控制要求。

It is difficult to track the trajectory node of a robot,which leads to the deviation between actual trajectory and desired trajectory.Therefore,an omnidirectional mobile robot trajectory tracking control method based on visual image is designed.The kinematics mathematical model of the omnidirectional mobile robot is constructed to determine the mathematical model of the robot's moving trajectory.Based on the mathematical model of the moving track,the moving image of the omnidirectional mobile robot is segmented by the visual image division standard,and the kinematics characteristic parameters are extracted by separating the target nodes to complete the tracking process of the robot's track nodes.Combined with the node tracking results,the kinematics inequality and error vector are taken as the constraint conditions of the robot trajectory tracking control,and a sliding mode variable structure is used to build the trajectory tracking control model,and realize the trajectory tracking control of the omnidirectional mobile robot.The experimental results show that the application of the proposed method is applied,the fitting degree between the angular velocity curve,linear velocity curve and the desired trajectory curve of the omnidirectional mobile robot is more than 90%,which meets the trajectory tracking control requirements of the omnidirectional mobile robot.