WO2018209864A1

WO2018209864A1 - Moving control method and device, robot and storage medium

Info

Publication number: WO2018209864A1
Application number: PCT/CN2017/103265
Authority: WO
Inventors: 阳方平
Original assignee: 广州视源电子科技股份有限公司
Priority date: 2017-05-18
Filing date: 2017-09-25
Publication date: 2018-11-22
Also published as: CN107065883A

Abstract

A moving control method and device, a robot and a storage medium. The moving control method comprises: obtaining control parameters, first actual position data and first target position data of a target object (S110); detecting a desired speed of the target object according to the control parameters, the first actual position data and the first target position data, and using the desired speed to control the target object to move (S120); determining whether the target object satisfies a preset stop moving condition (S130); and if yes, executing a preset stop operation (S140). By means of the moving control method, the technical problem of low position precision in robot moving process can be solved.

Description

Mobile control method, device, robot and storage medium

Technical field

The present invention relates to the field of robot control technologies, and in particular, to a mobile control method, apparatus, robot, and storage medium.

Background technique

A mobile-enabled robot is a type of robotic system that can realize a predetermined task by sensing the environment and its own state through sensors, and achieving an autonomous navigation movement in an obstacle-oriented environment.

Generally, when the robot is moving, the left and right driving wheels are usually controlled to move or rotate by the driver, and the speeds of the left and right driving wheels are closed. Wherein, the closed loop process can refer to FIG. 1 , and the robot acquires the actual speed of the current output of the left and right driving wheels at a time, and corrects the target speed of the output of the driver according to the speed to achieve normal movement of the robot. However, in the above method, only the speed is closed, and the overall position of the robot is not closed, which reduces the position accuracy of the robot, thereby affecting the accuracy of the robot path planning.

Summary of the invention

In view of this, embodiments of the present invention provide a mobile control method, apparatus, robot, and storage medium to solve the technical problem of low position accuracy during robot movement.

In a first aspect, an embodiment of the present invention provides a mobile control method, including:

Obtaining control parameters of the target object, first actual location data, and first target location data;

Determining a desired speed of the target object according to the control parameter, the first actual position data, and the first target position data, and controlling the target object to move by using the desired speed;

Determining whether the target object satisfies a preset stop movement condition, and if so, performing a preset stop operation.

In a second aspect, an embodiment of the present invention further provides a mobile control apparatus, including:

An acquiring module, configured to acquire control parameters, first actual location data, and first target location data of the target object;

a first movement module, configured to determine a desired speed of the target object according to the control parameter, the first actual position data, and the first target position data, and control the target object to move by using the desired speed ;

The stop confirmation module is configured to determine whether the target object satisfies a preset stop movement condition, and if yes, perform a preset stop operation.

In a third aspect, an embodiment of the present invention further provides a robot, including:

One or more processors;

a storage device for storing one or more programs;

One or more mobile devices for implementing a moving operation and a rotating operation of the robot;

The one or more programs are executed by the one or more processors such that the one or more processors implement the mobility control method of the first aspect.

In a fourth aspect, an embodiment of the present invention further provides a storage medium comprising computer executable instructions for performing the mobility control method according to the first aspect when executed by a computer processor.

The mobile control method, device, robot and storage medium provided by the embodiment of the present invention determine the target object by acquiring the control parameter of the target object, the first actual position data, and the first target position data. The speed is expected, and the target object is moved according to the desired speed. If the target object satisfies the preset stop movement condition, the technical solution of the preset stop operation is executed, and the position parameter of the target object is closed during the movement of the target object. It ensures the accuracy of the moving path of the target object and solves the problem of low positional accuracy during the movement.

DRAWINGS

Other features, objects, and advantages of the present invention will become more apparent from the Detailed Description of Description

1 is a schematic diagram of a speed closed loop in the prior art;

2 is a flowchart of a mobile control method according to Embodiment 1 of the present invention;

3a is a flowchart of a mobile control method according to Embodiment 2 of the present invention;

3b is a flow chart of a method for stopping a mobile in the prior art;

3c is a flowchart of a mobile method according to Embodiment 2 of the present invention;

3d is a flowchart of an in-situ rotation method according to Embodiment 2 of the present invention;

3e is a flowchart of a forward mobility method according to Embodiment 2 of the present invention;

Figure 3f is a schematic diagram of the moving space of the robot;

Figure 3g is an algorithm block diagram of the robot moving process;

Figure 3h is a schematic diagram of the robot stopping process;

Figure 3i is a block diagram of an algorithm for the in-situ rotation process of the robot;

Figure 3j is a block diagram of the algorithm for the forward movement of the robot;

4 is a schematic structural diagram of a mobile control apparatus according to Embodiment 3 of the present invention;

FIG. 5 is a schematic structural diagram of a robot according to Embodiment 4 of the present invention.

detailed description

The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It is understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. It should also be noted that, for ease of description, only some, but not all, of the present invention are shown in the drawings.

Embodiment 1

FIG. 2 is a flowchart of a mobile control method according to Embodiment 1 of the present invention. The mobile control method provided by this embodiment may be implemented by a mobile control device, which may be implemented by software and/or hardware, and integrated into a robot with intelligent mobile function, wherein the robot refers to an automatic execution work. Machine installation. It can accept human command, run pre-programmed procedures, or act on principles based on artificial intelligence techniques, such as moving cars.

S110. Acquire control parameters of the target object, first actual location data, and first target location data.

In the present embodiment, the target object is a robot having an intelligent mobile function. The control parameter is a parameter related to the movement of the target object, which does not change as the target object moves, and generally includes system parameters and/or command control parameters. The system parameters are the parameters of the control system installed in the target object, such as Proportion Integration Differentiation (PID) controller parameters, linear motion controller parameters, and so on. The command control parameter is an instruction parameter that can be controlled to control the movement of the target object when the target object moves before planning the movement process. It should be noted that the immutable control parameter only targets the target object in a complete intelligent moving process. If the target object starts a new intelligent moving process, the invariable control parameter can be adjusted according to the scene of the intelligent moving process, and the adjustment is performed. Save after completion until the end of this smart move process.

Specifically, the first actual location data is a real-time location acquired during the target object moving process, and may be acquired by an odometer or a positioning algorithm. The first target location data is a pair with the first actual location data The target location at which the target object is expected to arrive, which can be determined by motion planning. Optionally, a coordinate system is established within a moving range of the target object, and the coordinate system includes not only two-dimensional plane coordinates but also angle data. That is, the reference angle is set in advance, and the angle data of the current traveling direction of the target object is determined based on the reference angle.

Further, the sampling interval is preset, and the control parameter, the first actual position data, and the first target position data are acquired according to the sampling interval. The specific value of the sampling interval can be set according to the actual situation.

S120. Determine a desired speed of the target object according to the control parameter, the first actual position data, and the first target position data, and control the target object to move by using the desired speed.

During the movement of the target object, there is an error between the first actual position data and the first target position data. According to the error, the movement trajectory deviation of the current data acquisition time of the target object can be determined, and then the movement data of the target object is adjusted. And/or update the planned movement trajectory of the target object to improve the accuracy of the target object movement process.

Specifically, when determining the desired speed according to the control parameter, the first actual position data, and the first target position data, the position error of the target object may be determined according to the first actual position data and the first target position data, and then combined according to the position error. The parameter determines the desired speed of the current data acquisition time. Wherein the desired speed comprises a desired line speed and/or a desired angular speed, preferably comprising a desired line speed and a desired angular speed.

Further, when the target object is moved according to the desired speed, the target object may be controlled to perform circular motion according to the desired linear velocity and the desired angular velocity to ensure that the target object moves closer to the target stop position. In general, the target object has at least one mobile device. For example, if the target object has two driving wheels on the left and right sides, or two driving wheels on the left and right sides, then when controlling the movement of the target object, it is necessary to separately control each mobile device to move, that is, the desired speed can be regarded as a matrix parameter, wherein The sub-speed of each mobile device is included, and the corresponding mobile device is controlled according to the sub-speed.

S130. Determine whether the target object meets a preset stop moving condition. If yes, execute S140; otherwise, return to execution S110.

Specifically, the stop movement condition is set in advance so that the target object determines whether it is necessary to perform a preset stop operation. The specific content of the preset stop movement condition can be set according to actual conditions. For example, the movement stop position is set, and the first actual position data of the current time after the target object is moved is obtained, and it is determined whether the first actual position data reaches the movement stop position, thereby determining whether to perform the preset stop operation. The movement stop position is the stop position of the movement operation, not the target stop position. Generally, the distance between the movement stop position and the target stop position is less than the distance threshold. For another example, instead of setting a fixed movement stop position, the first actual position data of the current time of the target object is acquired, and whether the distance between the target object and the target stop position is less than or equal to the set distance threshold is determined according to the first actual position data. If it is less than or equal to the preset distance threshold, it indicates that the preset stop condition is met, and the preset stop operation is performed. If it is greater than the preset distance threshold, the preset stop condition is not satisfied, and the desired speed of the target object needs to be re-determined. And move.

Specifically, if the preset stop condition is not met, the desired speed of the target object is re-determined and moved, which may specifically be an operation of returning the control parameter for acquiring the target object, the first actual position data, and the first target position data, At this time, the acquired various types of parameters are preferably parameters obtained by controlling the sampling time after the target object is moved by the desired speed. In general, after the target object is moved, it is necessary to acquire the first actual position data of the current time after the movement to determine whether the preset stop movement condition is satisfied. According to this, the movement time at which the target object is moved according to the desired speed is set to be the same as the sampling interval of the data acquisition.

S140. Perform a preset stop operation.

Exemplarily, after the target object meets the preset stop condition, its current actual position is stopped from the target. There is still a gap in the location. Therefore, the operation of moving the target object from the current actual position to the target stop position is referred to as a preset stop operation.

Specifically, the preset stop operation includes at least an in-situ rotation process and/or a forward movement process. The in-situ rotation process performs an in-situ rotation operation for the control target object until the angle data of the target object after rotation is the same as the angle data of the target stop position. The forward movement process advances the control target object until the two-dimensional plane coordinates of the target object after the advancement are the same as the two-dimensional plane coordinates of the target stop position. It should be noted that, in the actual moving process, the target object cannot perform accurate linear movement, and is mostly a circular arc operation with a slight arc. In this embodiment, the target object is forwardly executed with a slightly arced arc operation. Moves in a straight line. In general, if the preset stop operation includes both the in-situ rotation process and the linear movement process, the sequence of the two processes during execution may be set according to actual conditions, which is not limited in this embodiment.

Optionally, during the execution of the preset stop operation, it is still necessary to acquire the actual position information of the target object, and confirm whether the target object reaches the target stop position according to the actual position information, and if the target stop position is reached, stop moving.

The technical solution provided by the embodiment determines the desired speed of the target object by acquiring the control parameter of the target object, the first actual position data, and the first target position data, and controls the target object to move according to the desired speed, if the target object satisfies the preset When the movement condition is stopped, the preset stop operation is performed. Otherwise, the technical solution of re-determining the desired speed of the target object and controlling the movement of the target object realizes the closed loop of the position parameter of the target object during the movement of the target object, thereby ensuring The accuracy of the target object's movement path solves the problem of low positional accuracy during the movement.

Embodiment 2

FIG. 3a is a flowchart of a mobile control method according to Embodiment 2 of the present invention. This embodiment provides The mobile control method is embodied on the basis of the above embodiment. Specifically, referring to FIG. 3a, the mobile control method provided in this embodiment specifically includes:

S201. Determine, by using a dynamic window method, an optimal control instruction and a corresponding planning trajectory during movement of the target object, to determine a control instruction parameter and a first target position data of the target object according to the optimal control instruction and the planned trajectory.

In this embodiment, the control parameters include system parameters and command control parameters.

Dynamic Window Approach (DWA) is a sensor-based local path planning and obstacle avoidance method. It regards the target object as a dynamic entity and takes into account the kinematics and dynamic constraints of the target object moving fast. . In general, considering the kinematic constraints of the target object, the optimization process is done by directly searching the speed space of the target object. The velocity space is composed of a pair of speeds that the target object can reach, wherein the velocity pair is represented by (v, ω), v is the linear velocity, and ω is the rotational velocity. The velocity space can also be called the instruction space, which is represented by q=(v,ω). It can also be understood as constraining the current search space to a feasible instruction space of the target object. After determining the instruction space, the target function is used to evaluate all the instructions in the search space, and the instruction that maximizes the objective function is selected as the optimal control instruction. According to the optimal control instruction, the target object moving process and the planning trajectory corresponding to the moving process can be simulated. When the above objective function is selected, it generally refers to the following three evaluation indexes: the orientation of the target stop position, the distance between the target object and the obstacle, and the fastest speed (linear speed and rotation speed) when the target object moves. Optionally, the objective function is a linear combination of the foregoing three evaluation indicators, and the specific combination rule is not limited in this embodiment.

Further, during the moving of the target object, the first target location data of each data acquisition time of the target object may be determined according to the planned trajectory. In this embodiment, the first target position data may be expressed as P _r (t)=(x _r (t), y _r (t), θ _r (t)) ^T , where x _r (t) and y _r (t) represents the two-dimensional plane coordinate position that the target object expects to arrive at the current data acquisition time, θ _r (t) represents the angle data that the target object expects to reach at the current data acquisition time, and t is the current data acquisition time, that is, the sampling time.

Generally, after the target object determines the optimal control instruction and the corresponding planning trajectory in the moving process of the target object before moving, the target object is controlled to perform initial movement according to the optimal control instruction, and the control of the target object is started. The parameter, the first actual position data, and the first target position data. Among them, the optimal control command usually does not change after the determination, that is, the optimal control command is used as the control command parameter. In the present embodiment, the control command parameters are expressed as q _r = (v _r , w _r ), and v _r and w _r are linear speed parameters and rotational speed parameters in the control command parameters, respectively.

S202. Acquire control parameters of the target object, first actual location data, and first target location data.

Specifically, the system parameter in the control parameter is a parameter of the controller that determines the actual control parameter of the target object. The controller is placed inside the target object, which can be software and/or hardware and meets the Lyapunov asymptotic stability requirements.

In the present embodiment, the first actual position data is expressed as P _c (t)=(x _c (t), y _c (t), θ _c (t)), where x _c (t) and y _c ( t) indicates the actual two-dimensional plane coordinate position of the target object at the current data acquisition time, θ _c (t) represents the actual angle data of the target object at the current data acquisition time, and t is the current data acquisition time, that is, the sampling time.

S203. Determine position error data of the target object according to the first actual position data and the first target position data.

Specifically, the formula for determining the position error data is:

among them,

Expressed as an error parameter. According to the formula (1), the position error data P _e (t) corresponding to the current data sampling timing can be determined.

S204. Determine actual control parameters of the current time of the target object by using the position error data, the first actual position data, and the control parameter.

Exemplarily, the actual control parameter is a control parameter that is output by the corresponding controller when the control target object moves. Further, the formula for determining the actual control parameters is:

Where K _x , K _y , K _θ are the system parameters of the corresponding controller, respectively, which can be set according to actual conditions.

For the actual control parameters, it includes a linear control speed parameter _vq (t) and a rotational control speed parameter _wq (t). It can be known from the formula (2) that the actual control parameter can also be understood as correcting the control command parameter according to the control parameter, the first actual position data and the first target position data to obtain the actual control parameter output by the current data acquisition time controller. The process of determining the actual control parameters using equation (2) can also be referred to as a trajectory tracking control algorithm, which can ensure the accuracy of the actual control parameters.

S205. Perform speed transformation on the actual control parameter to determine a desired speed of the target object, where the desired speed includes a first sub-speed and a second sub-speed.

In this embodiment, the target object comprises at least one mobile device, preferably comprising a first mobile device and a second mobile device. The first moving device and the second moving device are preferably a first drive wheel and a second drive wheel, wherein one of the first drive wheel and the second drive wheel is a left drive wheel and the other is a right drive wheel. Specifically, in the actual movement, the target object needs to separately control the first mobile device and the second mobile device to move. Therefore, it is necessary to convert the actual control parameters into a desired speed that controls the movement of the first mobile device and the second mobile device, respectively. Alternatively, the desired speed at which the first mobile device is controlled to move is referred to as a first sub-speed, and the desired speed at which the second mobile device is controlled to move is referred to as a second sub-speed.

Further, when the first mobile device and the second mobile device are set left and right, the formula for speed conversion of the actual control parameters is as follows:

Where q _c1 (t) represents the desired speed, v _l1 (t) represents the desired speed corresponding to the left mobile device, and v _r1 (t) represents the desired speed corresponding to the right mobile device. One of v _l1 (t) and v _r1 (t) is the first sub-speed and the other is the second sub-speed. b is the spacing between the first mobile device and the second mobile device.

S206: Move the first mobile device that controls the target object by using the first sub-speed.

S207. Move with a second mobile device that controls the target object by using the second sub-speed.

S208. Determine whether the target object satisfies the preset stop movement condition. If yes, execute S209; otherwise, return to execution S202.

Exemplarily, the preset stop movement condition is that the distance between the target object and the target stop position is determined to be less than or equal to the set distance threshold according to the first actual position data. Optionally, each time the first actual position data is acquired, the distance value between the first actual position data and the target stop position is determined, and the relationship between the distance value and the distance threshold is confirmed. Optionally, the data acquisition time period is preset, and when the next data acquisition time after the time period is met, the distance between the first actual location data and the target stop position is determined each time the first actual location data is acquired. Value and confirm the relationship between the distance value and the distance threshold. For example, if the time period is 3, the first actual position data acquired at the first three data acquisition times is not compared with the target stop position, and the first actual position data acquired each time is started at the fourth data acquisition time. The target stop position is compared and the relationship between the distance value and the distance threshold is confirmed. The target stop position is the position of the target object movement stop point, and the distance threshold may be set according to actual conditions. In general, the distance value described in the above process is a linear distance value between the target object and the target stop position.

In the prior art, the flow of stopping the operation of the target object may refer to FIG. 3b, which generally stops the moving operation when the target object moves to a certain range, and performs an in-situ rotation operation until the target object The current posture approaches the target posture. Among them, a certain range is a circle whose radius is set to a radius of the stop target stop position, and the target object is rotated by the set angle every time. In the actual execution process, the above method usually causes a certain deviation between the actual stop position and the stop target point. In order to prevent the above situation from occurring, it is proposed in the embodiment that when the target object satisfies the preset stop movement condition, the local object rotation operation and the forward movement operation are respectively performed on the target object to ensure that the stop position of the target object is the target stop position. In an actual application, the in-place rotation operation may be performed on the target object before performing the forward movement operation, or the forward movement operation may be performed on the target object before performing the in-place rotation operation. Preferably, the forward movement operation is performed after the in-situ rotation operation is performed on the target object.

S209. Perform an in-situ rotation operation on the target object to rotate the target object to the target angle.

Since the target object is rotated by the set angle every time, the target object may repeatedly perform the in-situ rotation operation due to the excessive rotation angle. In order to prevent the above situation, the motion planning method is adopted in this embodiment. . Specifically, referring to FIG. 3c, the step is specifically implemented by the steps of S2091-S2097:

S2091: Acquire an actual angle and a target angle when the target object satisfies a preset stop movement condition.

Wherein, the actual position data when the target object satisfies the preset stop movement condition is P _init =[x _init , y _init , θ _init ] ^T , and the stop position data of the target stop position is P _o =[x _o , y _o , θ _o ] ^T . Then, the rotational target position data of the in-situ rotation operation is _P'o = [x _init , y _init , θ ₀ ] ^T . That is, the actual angle is θ _init and the target angle is θ ₀ . The actual location data can be obtained by an odometer or a positioning algorithm.

S2092: Determine a rotation plan of the target object according to the actual angle and the target angle.

In order to ensure the accuracy of the target object when it is rotated in situ, the target object is rotated in advance to be pre-planned to correct the rotation speed according to the rotation planning result during the actual in-situ rotation.

Further, when the target object is rotated, the existing multiple motion planning parties can be used. law. In the present embodiment, the fifth-order polynomial method is exemplarily selected for the rotation planning. The following is a detailed description of the construction of the rotation planning formula based on the fifth-order polynomial method:

The five-time polynomial method of motion planning can be expressed as:

S(t ₁ )=a ₀ +a ₁ t ₁ +a ₂ t ₁ ² +a ₃ t ₁ ³ +a ₄ t ₁ ⁴ +a ₅ t ₁ ⁵ (4)

Where a ₀ , a ₁ , a ₂ , a ₃ , a ₄ and a ₅ are planning coefficients, and t ₁ is the current rotation time of the target object (in the embodiment, t ₁ is the time when the target object starts to move from the start to the current time) The difference between the total moving time and the in-situ rotation start time), S(t ₁ ) is the rotation planning result at time t ₁ .

From the above formula, if you want to determine the rotation planning result of the target object, you need to specify the specific value of the planning coefficient.

Further, the specific determination process of the planning coefficient is:

The initial parameters are set: actual angle θ _init , initial angular velocity 0, initial angular acceleration 0, target angle θ ₀ , target angular velocity 0, target angular acceleration 0, and data sampling period T ₁ during in-situ rotation. Further, it can be obtained that: s ₀ =0,

s ₁ =θ _init -θ ₀ ,

At this point, the calculation coefficient is calculated as follows:

a ₀ =s ₀ (5-1)

Further, after determining the planning coefficient, the formula (4) can be expressed as:

s _t1 = a ₀ + a ₁ t ₁ + a ₂ t ₁ ² + a ₃ t ₁ ³ + a ₄ t ₁ ⁴ + a ₅ t ₁ ⁵ (6)

Where s _t1 represents the angle at which the target object desires to rotate at time t ₁ . Differential calculation of equation (6) can be obtained:

among them,

It represents the desired angular velocity of the target object at time t _1. Differential calculation of equation (7) can be obtained:

among them,

It represents the desired angular rotation of the target object at time t _1.

Further, according to the equations (6), (7), and (8), the rotation planning formula of the target object can be constructed. Specifically, according to (6), (7), and (8), an angle, an angular velocity, and an angular acceleration of the desired rotation of the target object at any time t ₁ can be obtained, and the target object is determined according to the angle, angular velocity, and angular acceleration of the desired rotation. The target rotation angle, the target rotation angular velocity, and the target rotation angular acceleration that are expected to arrive at time ₁ .

Wherein, the formula for determining the target rotation angle θ _t1 is:

θ _t1 =θ _init +s _t1 (9)

Determining the target rotational angular velocity

The formula is:

Determining the target rotation angular acceleration

The formula is:

Specifically, Equation (9), Equation (10), and Equation (11) are the final rotation planning formulas. It should be noted that at least one rotation planning formula can be selectively constructed in the equations (9), (10), and (11) according to actual conditions in the actual application process.

S2093. Perform a rotation operation and acquire an actual rotation angle of the current rotation time during the rotation.

Specifically, the current rotation time is time t ₁ . The actual rotation angle can be obtained by the odometer of the target object, and can also be obtained by a positioning algorithm.

S2094: Determine a target rotation angle of the current rotation moment according to the rotation plan.

Illustratively, the target rotation angle θ _t1 at time t _{1 is} determined according to equation (9).

S2095: Determine the rotation speed of the current rotation moment by using the actual rotation angle and the target rotation angle, and rotate the target object according to the rotation speed.

Specifically, according to the actual rotation angle and the target rotation angle, the error data of the actual rotation process of the target object and the desired rotation process can be clarified, and then the rotation speed of the target object is adjusted according to the error data to ensure a more precise rotation process. Referring to FIG. 3d, the step can be specifically implemented by the steps of S20951-S20956:

S20951: Determine an angle error data of a current rotation time according to the actual rotation angle and the target rotation angle.

The position data of the target object obtained by setting the current rotation time is: P _xt1 = [x _init , y _init , θ _xt1 ] ^T , wherein the actual rotation angle is θ _xt1 , and the angle error data is: θ _e = θ _t1 - θ _xt1 .

S20952. Obtain system parameters of the rotation controller.

Wherein, the rotation controller is a device that is disposed inside the target object and determines the rotation speed during the in-situ rotation, which may be software and/or hardware. In general, the system parameters of the rotary controller can be set according to the actual situation and cannot be changed during a complete rotation. In the present embodiment, the rotation controller is selected as the PID controller. Corresponding system parameters include: proportional parameter K _p , integral parameter K _i and differential parameter K _d .

S20953: Determine a rotation speed of the current rotation moment of the target object according to the angle error data and the system parameter of the rotation controller.

Specifically, the formula for determining the rotational speed of the current moment is as follows:

Where t ₁ represents the current rotation time, q _xz (t ₁ ) represents the rotation speed of the current rotation time, and includes the linear rotation speed parameter v _xz (t) of the current rotation time and the rotation speed parameter w _xz (t of the current rotation time) ). Since the target object performs the in-place rotation operation, v _xz (t)=0.

S20954, performing a rotational speed transformation on the rotational speed to determine a desired rotational speed of the target object, the desired rotational speed including the first rotational sub-speed and the second rotational sub-speed.

Specifically, the setting target object includes the first moving device and the second moving device, and in order to ensure that the target object realizes the in-situ rotation operation, it is still required to convert the rotation speed into the first rotation of the first mobile device and the second mobile device. Sub-speed and second rotation sub-speed. Further, when the first mobile device and the second mobile device are set left and right, the formula for the rotational speed conversion of the rotational speed is as follows:

Where v _l2 (t ₁ ) represents the desired speed corresponding to the left mobile device, and v _r2 (t ₁ ) represents the desired speed corresponding to the right mobile device. One of v _l2 (t ₁ ) and v _r2 (t ₁ ) is the first sub-speed and the other is the second sub-speed. b is the spacing between the first mobile device and the second mobile device. Among them, since the target object performs the in-situ rotation operation, the linear velocity v _xz (t ₁ )=0 in the process.

S20955: The first moving device that controls the target object by using the first rotating sub-speed performs rotation.

S20956: Rotating by using a second moving device that controls the target object by the second rotating sub-speed.

S2096: Determine whether the target object is rotated to the target angle in place. If yes, execute S2097, otherwise, execute S2094.

Specifically, after the target object performs an in-situ rotation operation at each rotation time, the actual rotation angle after the rotation is obtained, and it is confirmed whether the actual rotation angle is the target angle, and if so, the target object is confirmed to rotate to the target angle in situ. Otherwise, the rotation speed of the target object is re-determined and the target object is rotated. Since the actual rotation angle has been acquired when it is judged whether the target object is rotated to the target angle in situ, if the target object is not rotated to the target angle in the actual application, the process may return to execute S2094.

S2097, stop the in-situ rotation operation.

S210. The control target object moves to the target stop position in the forward direction, and stops the movement operation when moving to the target stop position.

Specifically, the angle data of the target object is the same as the angle data of the target stop position when the in-situ rotation stop time is used, but the two-dimensional plane coordinate position of the target object is different from the two-dimensional plane coordinate position of the target stop position, and therefore, The target object moves forward to the target stop position.

Optionally, referring to FIG. 3e, the step may be specifically implemented by the steps of S2101-S2107:

S2101: Acquire position data at the time when the target object stops the in-situ rotation operation and stop position data of the target stop position.

Wherein, the position data when the in-situ rotation operation is stopped can be obtained by an odometer or a positioning algorithm.

S2102. Determine a motion plan of the target object according to the location data and the stop location data.

In order to ensure the accuracy of the target object moving forward, the forward moving process of the target object is pre-planned to correct the forward moving speed according to the mobile planning result during the actual forward moving process.

Further, when moving the target object to the mobile planning, the existing multiple motion planning methods can be used. In the present embodiment, the fifth-order polynomial method is exemplarily selected for moving planning. The following is a detailed description of constructing a mobile planning formula based on the fifth-order polynomial method:

The motor planning process of the fifth-order polynomial method can refer to formula (4), and t ₁ in formula (4) is changed to t ₂ . Where a ₀ , a ₁ , a ₂ , a ₃ , a _{4 ,} and a ₅ are planning coefficients, and t ₂ is the current moving time of the target object (in the present embodiment, t ₂ is the time when the target object starts to move from the start to the current time) The difference between the total moving time and the forward moving start time), S(t ₂ ) is the moving planning result at time t ₂ . From equation (4), if you want to determine the mobile planning result of the target object, you need to specify the specific value of the planning factor.

Specifically, the specific determination process of the planning coefficient is:

Set the target stop position to P _o =[x ₀ , y ₀ , θ ₀ ] ^T , and the in-situ rotation target position data when the target object stops the in-situ rotation operation is P′ _o =[x _init , y _init , θ ₀ ] ^T. Further, s ₀ =0 can be obtained.

At the same time, since the target object moves into a circular arc each time in the actual application, in order to ensure the accuracy of the motion planning, it is necessary to determine the direction unit vector of the circular motion. Specifically, the direction unit vector is:

And the direction unit vector for each forward movement is the same.

Further, the calculation coefficient calculation formula refers to formula (5-1) to formula (5-6). After determining the planning coefficient, formula (4) can be expressed as:

s _t2 = a ₀ + a ₁ t ₂ + a ₂ t ₂ ² + a ₃ t ₂ ³ + a ₄ t ₂ ⁴ + a ₅ t ₂ ⁵ (14)

Where s _t2 represents the trajectory position data at which the target object desires to move in the forward direction at time t ₂ . Differential calculation of equation (14) can be obtained:

among them,

It is expressed as the trajectory speed that the target object expects to reach at time t ₂ . Differential calculation of equation (15) yields:

among them,

It is expressed as the trajectory acceleration that the target object expects to reach at time t ₂ .

Further, according to the formula (14), the formula (15), and the formula (16), the movement planning formula of the target object can be constructed. Specifically, according to the equations (14), (15), and (16), the trajectory position data, the trajectory velocity, and the trajectory acceleration of the target object that are expected to move in the forward direction at any time t ₂ can be obtained. In order to ensure the accuracy of the planning result, the trajectory position data, the trajectory velocity and the trajectory acceleration are combined with the direction unit vector to determine the target position data, the target speed and the target acceleration that are expected to arrive at the target object t ₂ .

Wherein, the formula for determining the target position data P _r (t ₂ ) is:

Determine target speed

The formula is:

Determining target acceleration

for:

Illustratively, equations (17), (18), and (19) are the resulting motion planning formulas. It should be noted that, in the actual process, at least one mobile planning formula may be selectively constructed in the equations (17), (18), and (19) according to actual conditions.

S2103: Perform a mobile operation, and acquire second actual location data of a current moving moment in the moving process.

Specifically, the current moving moment is time t ₂ . The second actual position data P _c (t ₂ ) can be acquired by the odometer of the target object, and can also be acquired by a positioning algorithm.

S2104. Determine second target location data of the current moving moment according to the mobility plan.

Specifically, the second target position data P _r (t ₂ ) at time t _{2 is} determined according to equation (17).

S2105: Determine a moving speed of the current moving moment by using the second actual position data and the second target position data, and move the target object according to the moving speed.

Exemplarily, according to the second actual position data and the second target position data, the movement error data of the actual forward movement process of the target object and the desired forward movement process may be clarified, and then the moving speed of the target object is adjusted according to the movement error data to ensure The forward movement process is more precise.

Specifically, the movement error data of the second target position data and the second actual position data may be determined by using formula (1), and only the first actual position data in formula (1) needs to be replaced with the second actual position data, and the first The target location data is replaced with the second target location data. Further, when the target object moves forward, the controller that determines the forward motion control parameter may optionally meet the Lyapunov asymptotic stability requirement, and the controller may be the same as or different from the target object when moving. Optionally, the same controller can be shared when the target object moves and when it moves forward. Of course, different controllers can also be used. The system parameter of the controller corresponding to the forward movement is the same as the system parameter type of the controller corresponding to the movement. According to this, the forward movement control parameter at the time of the target object t ₂ can be determined by the equation (2). At this time, K _x , K _y , and K _θ are system parameters of the controller corresponding to the forward movement, respectively.

x _r (t ₂ ) and y _r (t ₂ ) represent the two-dimensional plane coordinate positions in the second target position data, respectively. Since the forward movement process does not involve a rotation operation, w _r =0 can be set.

Further, the setting target object includes the first mobile device and the second mobile device, and in order to control the forward movement of the two mobile devices, a speed change of the forward movement control parameter is required to determine the moving speed of the two mobile devices, The moving speed also includes a first forward sub-speed and a second forward sub-speed. When the speed changes, reference can be made to formula (3), in which case one of v _l1 (t ₂ ) and v _r1 (t ₂ ) is the first forward sub-speed and the other is the second forward sub-speed. b is the spacing between the first mobile device and the second mobile device. Specifically, the first forward sub-speed is used to control the first mobile device to perform forward movement, and the second forward sub-speed is used to control the second mobile device to perform forward movement to achieve forward movement of the target object.

S2106: Determine whether the target object moves to the target stop position. If yes, execute S2107, otherwise, return to execution S2104.

Specifically, after performing a forward movement on the target object at each forward movement time, the second actual position data after the forward movement is acquired, and it is confirmed whether the second actual position data is the stop position data of the target stop position, and if , confirm that the target object is moving to the target stop position, otherwise it will be re-determined The moving speed of the target object is moved and moved. Since the second actual position data has been acquired when it is judged whether the target object is moving to the target stop position, if the target object does not move to the target stop position in the actual application, the process returns to S2104.

S2107, stop moving operation.

The mobile control method provided by this embodiment is exemplarily described below:

Specifically, the target object is a robot with a mobile function, and the robot includes a left driving wheel and a right driving wheel. Figure 3f is a schematic diagram of the moving space of the robot. Referring to FIG. 3f, the robot 21 needs to move from the current position to the target stop position 22, and there are obstacles 23 and obstacles 24 in the moving space. In the present example, the movement of the robot 21 to the target stop position 22 is divided into two processes: a moving process and a stopping process. The preset stop operations performed during the stop are divided into: in-situ rotation operation and forward movement operation.

Further, FIG. 3g is an algorithm block diagram of the robot movement process. Referring to Fig. 3g, the robot 21 determines the control command parameter q _r and the planned trajectory using the DWA, wherein the planned trajectory is the trajectory 25 in Fig. 3f. Specifically, the mobile robot 21 is controlled to move according to q _r , and the first actual position data P _c (t) and the control parameters are acquired at the data acquisition time, while the first target position data P _r (t) is determined according to the planned trajectory. Further, the error parameter P _e (t) is determined by using the formula (1), and then the actual control parameter q _q (t) is determined by the controller using the formula (2), wherein the controller calculation process may be referred to as a trajectory tracking control algorithm. The velocity transformation is performed on q _q (t) using equation (3) to determine the desired velocity q _c1 (t), where q _c1 (t) includes: v _l1 (t) and v _r1 (t), using v _l1 ( t) Control the left drive wheel to move, use v _r1 (t) to control the right drive wheel to move, and then realize one movement of the robot. During the above movement, the robot realizes the position closed loop, which ensures the movement accuracy. Optionally, during the movement of the robot, not only the position closed loop but also the speed closed loop can be selected, wherein the left driving wheel and the right driving wheel are respectively controlled by the PID controller, and the left driving wheel can also be controlled by the PID controller. The process of the right drive wheel is understood to be the process of driving the drive to move the robot. In this example, the speed closed loop process can be performed by the drive. Specifically, the method for realizing the speed closed loop is to obtain the actual speed in the moving process of the target object, and adjust the desired speed according to the actual speed to obtain the corrected speed. The specific adjustment manner is not limited in this embodiment. If the speed loop is also required to be implemented during the subsequent stop, the adjustment method used is the same as that in the process.

Referring to FIG. 3h, each time the robot completes the movement, the distance between the current P _c (t) and the target stop position P _o is confirmed and compared with the set distance threshold r. If dist(P _c (t)-P _o )<r or dist(P _c -P _o )=r is satisfied, it is confirmed that the preset stop movement condition is satisfied, and then the robot is rotated to the target angle in situ (may also be situ called a target posture) of the robot and the rotational operation to the forward movement of the forward movement operation target stop position P _o to P _o. If the above-described stop movement condition is not satisfied, the movement operation is performed again according to the movement algorithm of Fig. 3g, and it is judged whether or not the preset stop movement condition is satisfied. It should be noted that the actual position data after the robot completes the movement is P _init =[x _init , y _init , θ _init ] ^T .

Figure 3i is an algorithmic block diagram of the robot's in-situ rotation process. Before performing the in-situ rotation process, it is necessary to rotate the in-situ rotation operation to determine the formula (6) and determine the formula (9) according to the formula (6). Performing the in-situ rotation operation, referring to FIG. 3i, obtaining the actual rotation angle θ _{xt1 of the} current rotation time t ₁ and determining the corresponding target rotation angle θ _t1 according to the formula (9), thereby determining the angle error data θ _e . Using the PID controller, the corresponding rotational speed q _xz (t ₁ ) is determined according to formula (12), and q _xz (t ₁ ) is subjected to velocity transformation to determine a desired rotational speed q _c2 (t ₁ ), where q _c2 ( t ₁ ) includes: v _l2 (t ₁ ) and v _r2 (t ₁ ). Specifically, v _l2 (t ₁ ) is used to control the left driving wheel to perform the in-situ rotation operation, and v _r2 (t ₁ ) is used to control the right driving wheel to perform the in-situ rotation operation, thereby realizing one in-situ rotation operation of the robot. During the above rotation process, the robot realizes the rotation angle closed loop, which ensures the accuracy of the rotation. Optionally, during the in-situ rotation of the robot, not only the rotation angle closed loop but also the speed closed loop can be selected.

Each time the robot completes the in-situ rotation, it confirms whether the current actual rotation angle θ _xt1 is the same as the target angle θ _o . If they are the same, the in-situ rotation process is ended and a forward movement process is performed to ensure that the robot moves to P _o . If not, the in-situ rotation operation is performed again according to the in-situ rotation algorithm of Fig. 3i. It should be noted that the actual position data after the robot completes the in-situ rotation is P′ _o =[x _init , y _init , θ ₀ ] ^T .

Figure 3j is a block diagram of the algorithm for the forward movement of the robot. Before performing the forward movement process, it is necessary to move the forward movement operation to determine the formula (14) and determine the formula (17) according to the formula (14). Further, when performing the forward movement operation, referring to FIG. 3j, acquiring the second actual position data P _c (t ₂ ) of the current forward movement time t ₂ and determining the corresponding second target position data P according to the formula (14) _r (t ₂ ), and then the error parameter P _e (t ₂ ) is determined using equation (1). The actual control parameter q _q (t ₂ ) is then determined using equation (2) and introduced when determining q _q (t ₂ )

Where x _r (t ₂ ) and y _r (t ₂ ) respectively represent the two-dimensional plane coordinate position in the second target position data P _r (t ₂ ), and w _r =0. Further, q _q (t ₂ ) is subjected to velocity transformation using equation (3) to determine a desired speed q _c1 (t ₂ ), where q _c1 (t ₂ ) includes: v _l1 (t ₂ ) and v _r1 ( t ₂ ), v _l1 (t ₂ ) can be used to control the forward movement of the left driving wheel, and v _r1 (t ₂ ) can be used to control the right driving wheel to move forward, thereby realizing a forward movement of the robot. During the above forward movement, the robot realizes the position closed loop, which ensures the forward movement accuracy. Optionally, during the forward movement of the robot, not only the position closed loop but also the speed closed loop can be selected, wherein the left driving wheel and the right driving wheel are respectively controlled by the PID controller.

After the robot completes the forward movement, it confirms whether the current P _c (t ₂ ) is the same as P _o . If they are the same, the forward movement process ends. If not, the forward movement operation is performed again according to the in-situ rotation algorithm of Fig. 3j.

The technical solution provided by the embodiment determines the optimal control instruction and the corresponding planning trajectory in the moving process of the target object through the dynamic window method, and actually avoids the obstacle in the moving process of the target object, and obtains the first in the actual moving process. The target position data and the first actual position data determine the desired speed of controlling the movement of the target object, realizing the position closed loop, and ensuring the precise execution of the planned path of the target object. Degree, when the preset stop movement condition is satisfied, the in-situ rotation operation and the forward movement are performed, wherein the angle closed loop is realized when the in-situ rotation operation is performed, and the position closed loop is realized in the forward movement, the advantage of this is that Overcome the problem that the distance between the target object and the target stop position is too large when the movement stops, and it is easy to turn back and forth.

Embodiment 3

FIG. 4 is a schematic structural diagram of a mobile control apparatus according to Embodiment 3 of the present invention. Referring to FIG. 4, the mobile control apparatus provided in this embodiment specifically includes: an obtaining module 301, a first moving module 302, and a stop confirming module 303.

The acquiring module 301 is configured to acquire the control parameter of the target object, the first actual location data, and the first target location data. The first mobile module 302 is configured to use, according to the control parameter, the first actual location data, and the first target location data. Determining a desired speed of the target object and controlling the target object to move with the desired speed; stopping the confirmation module 303 for determining whether the target object satisfies the preset stop movement condition; if yes, performing a preset stop operation.

The technical solution provided by the embodiment determines the desired speed of the target object by acquiring the control parameter of the target object, the first actual position data, and the first target position data, and controls the target object to move according to the desired speed, if the target object satisfies the preset When the moving condition is stopped, the technical solution of the preset stopping operation is executed, and the position parameter of the target object is closed in the moving process of the target object, the accuracy of the moving path of the target object is ensured, and the positional accuracy in the moving process is solved. Low problem.

On the basis of the foregoing embodiment, the first movement module 302 includes: an error determination sub-module, configured to determine position error data of the target object according to the first actual position data and the first target position data; and a parameter determination sub-module for utilizing The position error data, the first actual position data and the control parameter determine an actual control parameter of the current time of the target object; the speed determination sub-module is configured to perform the actual control parameter Speed transformation to determine a desired speed of the target object, the desired speed comprising a first sub-speed and a second sub-speed; a movement control sub-module for controlling movement by the first mobile device of the first sub-speed control target object; the movement controller And a module for moving the second mobile device that controls the target object with the second sub-speed.

Based on the above embodiments, the control parameters include: system parameters and control command parameters.

Further, the mobile control apparatus further includes: an instruction determining module, configured to determine an optimal process of the target object by using a dynamic window method before acquiring the control parameter of the target object, the first actual position data, and the first target position data. The control instruction and the corresponding planning trajectory are used to determine the control instruction parameter and the first target position data of the target object according to the optimal control instruction and the planned trajectory.

On the basis of the foregoing embodiment, the stop confirmation module 303 includes: a determination submodule, configured to determine whether the target object satisfies a preset stop movement condition; and an in situ rotation submodule configured to satisfy a preset stop movement condition, Performing an in-place rotation operation on the target object to rotate the target object to the target angle in situ; moving the sub-module forwardly, controlling the target object to move to the target stop position in the forward direction, and stopping the movement operation when moving to the target stop position Return to the sub-module for re-determining the desired speed of the target object and moving if the preset stop movement condition is not met.

On the basis of the foregoing embodiment, the in-situ rotation sub-module includes: an angle acquisition unit, configured to acquire an actual angle and a target angle when the target object meets a preset stop movement condition; and a rotation planning unit, configured to use the actual angle and the target The angle determines a rotation plan of the target object; the rotation execution unit is configured to perform a rotation operation, and acquires an actual rotation angle of the current rotation time during the rotation; the first data acquisition unit is configured to determine a target rotation angle of the current rotation time according to the rotation plan a rotation speed determining unit configured to determine a rotation speed of the current rotation moment by using the actual rotation angle and the target rotation angle, and rotate the target object according to the rotation speed; and a rotation stop determination unit configured to determine whether the target object is rotated to the target angle in situ; If yes, stop the in-place rotation operation, otherwise, re-determine the target object. Rotate the speed and rotate the target object.

On the basis of the above embodiment, the rotation speed determining unit includes: a first error subunit for determining angular error data of the current rotation time according to the actual rotation angle and the target rotation angle; and a parameter acquisition subunit for acquiring the rotation controller The system parameter; the speed determining subunit is configured to determine a rotation speed of the current rotation moment of the target object according to the angle error data and the system parameter of the rotation controller; and the speed transformation subunit is configured to perform a rotation speed transformation on the rotation speed to determine the target a desired rotational speed of the object, the desired rotational speed including a first rotational sub-speed and a second rotational sub-speed; a first rotating unit for rotating the first moving device that controls the target object with the first rotating sub-speed; and a second rotating unit And rotating for controlling the second moving device of the target object with the second rotating sub-speed.

On the basis of the above embodiment, the forward movement sub-module includes: a position acquisition unit, configured to acquire position data when the target object stops the in-situ rotation operation and stop position data of the target stop position; and a movement planning unit for the position according to the position The data and the stop position data determine a movement plan of the target object; the forward movement unit is configured to perform the move operation, and acquire the second actual position data of the current moving moment in the moving process; and the second data acquiring unit is configured to determine according to the movement plan a second target position data of the current moving time; a moving speed determining unit configured to determine a moving speed of the current moving time by using the second actual position data and the second target position data, and move the target object according to the moving speed; the movement stop determining unit, It is used to judge whether the target object moves to the target stop position, and if so, stops the movement operation; otherwise, it re-determines the movement speed of the target object and moves.

On the basis of the above embodiment, the preset stop movement condition is that the distance between the target object and the target stop position is determined to be less than or equal to the set distance threshold according to the first actual position data.

The mobile control device provided by the embodiment of the present invention is applicable to the mobile control method provided by any of the foregoing embodiments, and has corresponding functions and advantageous effects.

Embodiment 4

FIG. 5 is a schematic structural diagram of a robot according to Embodiment 4 of the present invention. As shown in FIG. 5, the robot includes a processor 40, a storage device 41, a mobile device 42, an input device 43, and an output device 44. The number of processors 40 in the robot may be one or more, and one processor in FIG. 40, for example, the number of mobile devices 42 in the robot may be one or more, and two mobile devices 42 are taken as an example in FIG. 5; the processor 40, the storage device 41, the mobile device 42, the input device 43, and the output device in the robot 44 can be connected by bus or other means, in FIG. 5 by way of a bus connection.

The mobile device 42 is configured to implement a moving operation and a rotating operation of the robot. The various controllers mentioned in the above method embodiments may be set in the processor 40 by default.

The storage device 41 is used as a computer readable storage medium for storing one or more programs, such as the program module/module corresponding to the mobile control method in the embodiment of the present invention (for example, the acquisition module 301 in the mobile control device, A mobile module 302 and a stop confirmation module 303). The processor 40 executes various functional applications and data processing of the device by executing software programs, instructions, and modules stored in the storage device 41, that is, implementing the above-described mobile control method.

The storage device 41 may mainly include a storage program area and an storage data area, wherein the storage program area may store an operating system, an application required for at least one function; the storage data area may store data created according to usage of the device, and the like. Further, the storage device 41 may include a high speed random access memory, and may also include a nonvolatile memory such as at least one magnetic disk storage device, a flash memory device, or other nonvolatile solid state storage device. In some examples, storage device 41 may further include memory remotely located relative to processor 40, which may be connected to the robot via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

Input device 44 can be used to receive input numeric or character information and to generate key signal inputs related to user settings and function control of the robot. The output device 45 may include a display device such as a display screen.

Embodiment 5

Embodiment 5 of the present invention further provides a storage medium including computer executable instructions for executing a mobile control method when executed by a computer processor, the mobile control method comprising:

Obtaining a control parameter of the target object, first actual location data, and first target location data;

It is judged whether the target object satisfies the preset stop movement condition, and if so, the preset stop operation is performed.

Certainly, a storage medium containing computer executable instructions provided by the embodiment of the present invention, the computer executable instructions are not limited to the operation of the mobile control method as described above, and may also execute the mobile control method provided by any embodiment of the present invention. Related operations in .

Through the above description of the embodiments, those skilled in the art can clearly understand that the present invention can be implemented by software and necessary general hardware, and can also be implemented by hardware, but in many cases, the former is a better implementation. . Based on such understanding, the technical solution of the present invention, which is essential or contributes to the prior art, may be embodied in the form of a software product, which may be stored in a computer readable storage medium, such as a floppy disk of a computer. , read-only memory (ROM), random access memory (RAM), flash memory (FLASH), hard disk or optical disk, etc., including a number of instructions to make a computer device (can be a robot, A personal computer, server, or network device, etc.) performs the mobility control method described in various embodiments of the present invention.

It is worth noting that in the embodiment of the above mobile control device, each unit and module included It is only divided according to the functional logic, but it is not limited to the above division, as long as the corresponding functions can be realized; in addition, the specific names of the functional units are only for facilitating mutual differentiation, and are not used to limit the protection scope of the present invention. .

Note that the above are only the preferred embodiments of the present invention and the technical principles applied thereto. Those skilled in the art will appreciate that the present invention is not limited to the specific embodiments described herein, and that various modifications, changes and substitutions may be made without departing from the scope of the invention. Therefore, the present invention has been described in detail by the above embodiments, but the present invention is not limited to the above embodiments, and other equivalent embodiments may be included without departing from the inventive concept. The scope is determined by the scope of the appended claims.

Claims

A mobile control method, comprising:

Obtaining control parameters of the target object, first actual location data, and first target location data;

Determining a desired speed of the target object according to the control parameter, the first actual position data, and the first target position data, and controlling the target object to move by using the desired speed;

Determining whether the target object satisfies a preset stop movement condition, and if so, performing a preset stop operation.
The movement control method according to claim 1, wherein the determining a desired speed of the target object based on the control parameter, the first actual position data, and the first target position data, and utilizing the The desired speed control of the target object to move includes:

Determining position error data of the target object according to the first actual position data and the first target position data;

Determining, by the position error data, the first actual position data and the control parameter, an actual control parameter of a current time of the target object;

Performing a speed transformation on the actual control parameter to determine a desired speed of the target object, the desired speed including a first sub-speed and a second sub-speed;

Controlling, by the first sub-speed, the first mobile device of the target object to move;

The second mobile device that controls the target object is moved by the second sub-speed.
The mobile control method according to claim 1, wherein the control parameters comprise: system parameters and control instruction parameters;

Before the acquiring the control parameter of the target object, the first actual location data, and the first target location data, the method further includes:

Determining an optimal control instruction in the moving process of the target object and a corresponding planning trajectory by using a dynamic window method to determine a control instruction parameter of the target object according to the optimal control instruction and the planned trajectory And first target location data.
The mobile control method according to claim 1, wherein the performing the preset stop operation comprises:

Performing an in-situ rotation operation on the target object to rotate the target object in situ to a target angle;

The target object is controlled to move forward to the target stop position, and the movement operation is stopped when moving to the target stop position.
The mobile control method according to claim 4, wherein the performing an in-place rotation operation on the target object to rotate the target object to a target angle in situ comprises:

Obtaining an actual angle and a target angle when the target object satisfies the preset stop movement condition;

Determining a rotation plan of the target object according to the actual angle and a target angle;

Performing a rotation operation and obtaining an actual rotation angle of the current rotation time during the rotation;

Determining, according to the rotation plan, a target rotation angle of the current rotation moment;

Determining a rotation speed of a current rotation moment by using the actual rotation angle and the target rotation angle, and rotating the target object according to the rotation speed;

Determining whether the target object is rotated to the target angle in situ, and if so, stopping the in-situ rotation operation; otherwise, re-determining the rotation speed of the target object and rotating the target object.
The movement control method according to claim 5, wherein the determining the rotation speed of the current rotation time by using the actual rotation angle and the target rotation angle, and rotating the target object according to the rotation speed comprises:

Determining angle error data of a current rotation time according to the actual rotation angle and the target rotation angle;

Obtaining system parameters of the rotation controller;

Determining a rotation speed of the current rotation moment of the target object according to the angle error data and a system parameter of the rotation controller;

Performing a rotational speed transformation on the rotational speed to determine a desired rotational speed of the target object, the desired rotational speed including a first rotational sub-speed and a second rotational sub-speed;

Controlling, by the first rotating sub-speed, the first mobile device of the target object to rotate;

The second moving device that controls the target object is rotated by the second rotational sub-speed.
The movement control method according to claim 4, wherein the controlling the moving of the target object to the target stop position and stopping the moving operation when moving to the target stop position comprises:

Obtaining position data when the target object stops the in-situ rotation operation and stop position data of the target stop position;

Determining a movement plan of the target object according to the location data and the stop location data;

Performing a move operation and acquiring second actual position data of the current moving moment in the moving process;

Determining, according to the movement plan, second target position data of the current moving moment;

Determining a moving speed of the current moving moment by using the second actual position data and the second target position data, and moving the target object according to the moving speed;

It is determined whether the target object moves to the target stop position, and if so, the movement operation is stopped, otherwise, the movement speed of the target object is re-determined and moved.
The movement control method according to claim 1 or 5, wherein the preset stop movement condition is that the distance between the target object and the target stop position is determined to be less than or equal to a set distance threshold according to the first actual position data. .
A mobile control device, comprising:

An acquisition module, configured to acquire a control parameter of the target object, the first actual location data, and the first target Location data

a first movement module, configured to determine a desired speed of the target object according to the control parameter, the first actual position data, and the first target position data, and control the target object to move by using the desired speed ;

The stop confirmation module is configured to determine whether the target object satisfies a preset stop movement condition, and if yes, perform a preset stop operation.
A robot characterized by comprising:

One or more processors;

a storage device for storing one or more programs;

One or more mobile devices for implementing a moving operation and a rotating operation of the robot;

The one or more programs are executed by the one or more processors such that the one or more processors implement the mobility control method of any of claims 1-8.
A storage medium comprising computer executable instructions, the computer executable instructions, when executed by a computer processor, for performing the mobility control method of any of claims 1-8.