# US 8,751,089 B2 · Trajectory tracking control system and method for mobile unit > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 8,751,089 B2 - Document ID: US8751089B2 - Status: Granted - Kind: B2 - Application number: 12/282,998 - Filed: 2007-03-09 - Published: 2009-04-16 - Granted: 2014-06-10 - Earliest claimed: 2006-03-14 - Assignees: Toyota Jidosah Kabushki Kaisha - Applicants: Hidenori Yabushita; Kazuhiro Mima; Takemitsu Mori; Yoshiaki Asahara - Inventors: Hidenori Yabushita; Kazuhiro Mima; Takemitsu Mori; Yoshiaki Asahara - Web page: https://patentgrep.com/patent/US8751089B2 ## CPC - G05D 1/0272: {comprising means for registering the travel distance, e.g. revolutions of wheels (measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00)} - B60T 8/172: Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters {(B60T8/17551 takes precedence)} - G05D 1/0212: {with means for defining a desired trajectory (involving a plurality of land vehicles G05D1/0287)} - G06N 3/008: based on physical entities controlled by simulated intelligence so as to replicate intelligent life forms, e.g. based on robots replicating pets or humans in their appearance or behaviour - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - B60T: VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL (electrodynamic brake systems for vehicle, in general B60L; brakes per se, i.e. devices where braking effect occurs, including ultimate brake actuators, F16D); ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES - G06N: COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS ## 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. ## Claims ### Claim 1 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. ### Claim 2 (depends on 1) The trajectory tracking control system according to claim 1, wherein the curvature calculating portion determines the curvature in accordance with a control cycle of the mobile unit. ### Claim 3 (depends on 1) The trajectory tracking control system according to claim 1, wherein the adjacent point setting portion determines a distance between the closest point and each of the adjacent points in accordance with a moving speed of the mobile unit. ### Claim 4 (depends on 1) The trajectory tracking control system according to claim 1, wherein the adjacent point setting portion sets a distance between the closest point and each of the adjacent points in accordance with a moving speed and a control cycle of the mobile unit. ### Claim 5 (depends on 1) The trajectory tracking control system according to claim 1, wherein the adjacent point setting portion determines a distance L between the closest point and each of the adjacent points in accordance with VΔT where V is a moving speed of the mobile unit and ΔT is a control cycle of the mobile unit. ### Claim 6 (depends on 1) The trajectory tracking control system according to claim 1, wherein the feed-forward control portion stops the feed-forward control when at least one of the amount of a position error of the mobile unit with respect to the target path and the amount of an orientation error of the mobile unit with respect to the target path is larger than a predetermined amount. ### Claim 7 (depends on 1) The trajectory tracking control system according to claim 1, further comprising: a feed-back control portion that executes a feed-back control so as to reduce at least one of a position error and an orientation error of the mobile unit with respect to the target path. ### Claim 8 (depends on 7) The trajectory tracking control system according to claim 7, wherein only the feed-back control is executed when the feed-forward control is stopped. ### Claim 9 (depends on 1) The trajectory tracking control system according to claim 1, wherein the mobile unit is a robot. ### Claim 10 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. ### Claim 11 (depends on 10) The trajectory tracking control method according to claim 10, wherein the curvature is calculated in accordance with a control cycle of the mobile unit. ### Claim 12 (depends on 10) The trajectory tracking control method according to claim 10, wherein a distance between the closest point and each of the adjacent points is determined in accordance with a moving speed of the mobile unit. ### Claim 13 (depends on 10) The trajectory tracking control method according to claim 10, wherein a distance between the closest point and each of the adjacent points is determined in accordance with a moving speed and a control cycle of the mobile unit. ### Claim 14 (depends on 10) The trajectory tracking control method according to claim 10, wherein a distance L between the closest point and each of the adjacent points is determined in accordance with VΔT where V is a moving speed of the mobile unit and ΔT is a control cycle of the mobile unit. ### Claim 15 (depends on 10) The trajectory tracking control method according to claim 10, comprising: setting a control of the mobile unit so as to reduce at least one of a position error and a orientation error of the mobile unit with respect to the target path. ### Claim 16 (depends on 10) The trajectory tracking control method according to claim 10, wherein the control of the mobile unit that is set in accordance with the curvature is stopped when at least one of the amount of a position error of the mobile unit with respect to the target path and the amount of an orientation error of the mobile unit with respect to the target path is larger than a predetermined amount. ### Claim 17 (depends on 10) The trajectory tracking control method according to claim 10, wherein the mobile unit is a robot. ### Claim 18 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.