Patent
Single mobile robot optimal itineration control method based on target tracking control strategy
Ou Linlin,Chen Hao,Yu Xinyi,Cheng Cheng,Zhao Qianyi,Xing Shuang,Han Shaofeng,Li Zhuang,Chen Zhinan +8 more
- 12 Aug 2015
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TL;DR: In this paper, a single mobile robot optimal itineration control method based on a target tracking control strategy is presented, which comprises seven steps of map construction, task description, topology construction, optimal path searching, task decomposition, target tracking controller, and pose information feedback.
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Abstract: Provided is a single mobile robot optimal itineration control method based on a target tracking control strategy. The method comprises seven steps of map construction, task description, topology construction, optimal path searching, task decomposition, target tracking control, and pose information feedback. The method comprises: firstly, based on a linear temporal logic theory, combining a constructed weighting switching system and a linear temporal logic task formula, establishing task feasible network topology; then, using an optimal path searching method based on a Dijkstra algorithm to search an optimal path, and storing discrete coordinate points in environment corresponding to the optimal path in cache, and sending the discrete coordinate points to a target tracking controller in order; then, using a target tracking control method to give a controlled quantity to control a robot to move to a target point according to distance between the robot and the target point and deviation of angles; and finally, in an operation process of the robot, using a global camera to acquire present position coordinate and orientation information of the robot in real time, and feeding back to the target tracking controller, so as to realize closed-loop control.
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Citations
Patent
Storage robot path program method based on linear temporal logic theory
Yu Xinyi,Chen Hao,Guo Yongkui,Cheng Cheng,Chen Zhinan,Ou Linlin +5 more
- 06 Apr 2016
TL;DR: In this article, a storage robot path program method based on linear temporal logic theory comprises the steps of modeling a storage environment into a weight switching system based on assignment nodes; describing complex assignment tasks of the storage system by using the linear-time logic language (LTL); switching the task formula into a Buchi automatic machine through an LTL2BA tool kit; conducting cartesian product to the extensible weight switching and the Buchi Automatic Machine to form a task feasible network topology; employing SPFA(Shortest Path Faster Algorithm) on the topology to search
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Algorithm for positioning control of automatic guided vehicle (AGV) robot based on fuzzy proportion integration differentiation (PID)
Liu Xueliang,Zhang Zhi,Shanjin Wang,Huazhu Liu,Zhang Zusheng,Wei Yadong +5 more
- 13 Jul 2016
TL;DR: In this article, an algorithm for positioning control of an automatic guided vehicle (AGV) robot based on fuzzy proportion integration differentiation (PID) is presented, which is more suitable for control over the AGV robot; through a mode of adding the fuzzy PID control, the response speed and control operation accuracy of the robot can be improved, and the robot positioning accuracy is higher.
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Robot positioning method and system
Liu Caixia,Li Jiayi,Zhang Zhenggui,Zhang Xiao +3 more
- 04 May 2018
TL;DR: In this paper, the authors present a robot positioning method and system that comprises the steps as follows: S100, a robot advances according to a first positioning module and whether the current position of the robot is in a preset area or not is judged.
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LTL-A*-A*optimal path planning method applicable to dynamic environment
Yu Xinyi,Guo Yongkui,Wang Tao,Lu Liang,Ou Linlin +4 more
- 15 Mar 2017
TL;DR: In this paper, an LTL-A*-A * -A * optimal path planning method for dynamic environment is presented. But the method mainly includes LTL A*global path optimization and local path optimization based on the A*algorithm.
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Full coverage path planning method of mobile robot
Chen Zhe,Yin Fuliang,Yang Keqiang +2 more
- 22 Dec 2017
TL;DR: In this article, a full coverage path planning method of a mobile robot is presented, where the working area of the robot is divided into a plurality of unit cells in advance to form current target regions.
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TL;DR: In this paper, a multi-robot tracked mobile target algorithm is proposed, which comprises the following steps: (1) form a motion predicting model of a mobile target by the current position information and the position information in the previous moment of the mobile target; (2) forming a dynamic robot motion control model by the mobile targets predicting position of the motion prediction model of the target.
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