Mobile robot navigating method
First Claim
1. A mobile robot navigating method for navigating an autonomous mobile robot comprising a path planning unit, a posture control unit, a command signal converting unit, a current posture computing unit, and a running mechanism, said method comprising:
- obtaining current robot posture data based on travelling operations executed by the robot;
periodically sending said current posture data from the current posture computing unit to the posture control unit at predetermined time intervals;
obtaining speed correction feedback control data and angular velocity correction feedback control data;
periodically feeding forward from the path planning unit to the posture control unit (1) desired posture data, (2) a desired speed feed-forward command which is independent of said speed correction feedback control data, and (3) a desired angular velocity feed-forward command which is independent of said angular velocity correction feedback control data;
calculating, by means of said posture control unit, a speed command which is based on said desired speed feed-forward command and said speed correction feedback control data, and an angular velocity command which is based on said desired angular velocity feed-forward command and said angular velocity correction feedback control data; and
converting, by means of said command signal converting unit, the speed command and the angular velocity command into running commands for controlling the running mechanism to make the running mechanism operate according to the running commands.
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Abstract
A mobile robot navigating method for navigating an autonomous mobile robot utilizes a path planning unit, a posture control unit, a command signal converting unit, a current posture computing unit and a running mechanism, such as an autonomous carrier vehicle, capable of quickly and accurately controlling the mobile robot for steady running to a desired posture along a specified path. The mobile robot is controlled for running by a speed command including a desired speed for feed-forward control a speed correction for feed back control, and an angular velocity command including a desired angular velocity for feed-forward control and an angular velocity correction for feedback control. The mobile robot is controlled in a feed back and feed-forward control mode using the speed command and the angular velocity command so as to run steadily along an optimum path to a desired posture without meandering.
174 Citations
5 Claims
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1. A mobile robot navigating method for navigating an autonomous mobile robot comprising a path planning unit, a posture control unit, a command signal converting unit, a current posture computing unit, and a running mechanism, said method comprising:
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obtaining current robot posture data based on travelling operations executed by the robot; periodically sending said current posture data from the current posture computing unit to the posture control unit at predetermined time intervals; obtaining speed correction feedback control data and angular velocity correction feedback control data; periodically feeding forward from the path planning unit to the posture control unit (1) desired posture data, (2) a desired speed feed-forward command which is independent of said speed correction feedback control data, and (3) a desired angular velocity feed-forward command which is independent of said angular velocity correction feedback control data; calculating, by means of said posture control unit, a speed command which is based on said desired speed feed-forward command and said speed correction feedback control data, and an angular velocity command which is based on said desired angular velocity feed-forward command and said angular velocity correction feedback control data; and converting, by means of said command signal converting unit, the speed command and the angular velocity command into running commands for controlling the running mechanism to make the running mechanism operate according to the running commands. - View Dependent Claims (2, 3, 4, 5)
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Specification