Patent
Optimal itineration control method satisfying complex requirement
Ou Linlin,Chen Hao,Yu Xinyi,Cheng Cheng,Xing Shuang,Han Shaofeng,Li Zhuang,Chen Zhinan +7 more
- 12 Aug 2015
8
TL;DR: In this paper, a robot optimal itineration control method satisfying complex requirements is presented, which consists of six steps of establishing a weighting switching system, establishing a task chart of a Buchi automata, establishing task feasible network topology of a Product Automata, searching an optimal path, performing fuzzy logic control, and feeding back pose information.
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Abstract: Provided is a robot optimal itineration control method satisfying complex requirements. The method comprises six steps of establishing a weighting switching system, establishing a task chart of a Buchi automata, establishing task feasible network topology of a Product automata, searching an optimal path, performing fuzzy logic control, and feeding back pose information. The method comprises: firstly, based on linear temporal logic, combining with robot operation environment information, programming the optimal path satisfying task requirements; and then, by using a fuzzy control strategy, combining with present position coordinate and orientation information of the robot fed back in real time, according to angular deviation [alpha] and distance deviation d between a present mobile robot and a target point, giving controlled quantities of speed vl and vr of a left wheel and a right wheel of the robot, so as to realize optimal path tracking control. The method can plan the optimal path which conforms to robot operation environment and satisfies complex itineration task requirements, and the method can effectively control the robot to realize optimal path tracking, so as to complete appointed tasks.
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Citations
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