Trajectory tracking control system and method for mobile unit
AssigneeToyota Jidosah Kabushki Kaisha
InventorsHidenori Yabushita, Kazuhiro Mima, Takemitsu Mori, Yoshiaki Asahara
Life of this patent
Estimating the term…
Abstract
A trajectory tracking control system according to the invention controls a robot (1) to track a target path (100). In this system, the target path (100) is approximated to an arc, and the curvature of the arc is calculated. At this time, the curvature is calculated in accordance with the moving speed of the robot (1). Then, the control of the robot (1) is set in accordance with the calculated curvature.
Claims18
A trajectory tracking control system that controls a mobile unit to track a target path described by free-form curves, comprising:
- a mobile unit;
- a curvature calculating portion that calculates an arc which approximates to the target path, the curvature calculating portion calculating a curvature of the arc in accordance with a moving speed of the mobile unit;
- and
- a feed-forward control portion that sets a feed-forward control of the mobile unit in accordance with the curvature calculated by the curvature calculating portion,
- wherein the curvature calculating portion includes:
- a closest point setting portion that sets, on the target path, a point that is closest to the mobile unit;
- an adjacent point setting portion that sets, on the target path, an adjacent point before the closest point set by the closest point setting portion and an adjacent point after the closest point set by the closest point setting portion;
- and
- an arc setting portion that sets an arc that extends through the closest point set by the closest point setting portion and the adjacent points set by the adjacent point setting portion.
A trajectory tracking control method for controlling a mobile unit to track a target path described by free-form curves, comprising:
- calculating, via a curvature calculating portion of a trajectory control system, an arc approximating to the target path including calculating a curvature of the arc in accordance with a moving speed of the mobile unit;
- and
- setting a control of the mobile unit in accordance with the calculated curvature,
- wherein the calculation of the curvature includes:
- setting, on the target path, a point that is closest to the mobile unit;
- setting, on the target path, an adjacent point before the closest point and an adjacent point after the closest point;
- and
- setting an arc that extends through the closest point and the adjacent points.
A trajectory tracking control system for controlling a mobile unit to track a target path described by free-form curves, comprising:
- a non-transitory computer readable memory containing instructions executable by a computer, wherein the computer readable memory includes:
- an instruction
- an instruction for causing the computer to execute a step of setting a control of the mobile unit in accordance with the calculated curvature,
- wherein the calculating the curvature of the arc includes:
- setting, on the target path, a point that is closest to the mobile unit;
- setting, on the target path, an adjacent point before the closest point and an adjacent point after the closest point;
- and
- setting an arc that extends through the closest point and the adjacent points.
Dependencies are inferred from the claim text.