Research on Travel Control Method of Field Inspection Robot

Aiming at the problem of low accuracy of field inspection robot travel control, a vision guidance-based field inspection robot travel control method is proposed. The invention uses machine vision technology to obtain the relative deviation between the field inspection robot and a predetermined traje...

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Bibliographic Details
Published in2020 39th Chinese Control Conference (CCC) pp. 2682 - 2685
Main Authors Bochuan, Zhang, Haiping, Wei, Ruiguang, Hu
Format Conference Proceeding
LanguageEnglish
Published Technical Committee on Control Theory, Chinese Association of Automation 01.07.2020
Subjects
Acceleration
Collision avoidance
Differential control
Inspection
Inspection robot
Mobile robots
Trajectory
Travel control
Wheels
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Summary:Aiming at the problem of low accuracy of field inspection robot travel control, a vision guidance-based field inspection robot travel control method is proposed. The invention uses machine vision technology to obtain the relative deviation between the field inspection robot and a predetermined trajectory, and directly obtains the motion trajectory of the field inspection robot by an analytical method. Since the influence of the differential control acceleration is considered, the optimal speed control amount can be accurately given to control the field inspection robot.
ISSN:2161-2927
DOI:10.23919/CCC50068.2020.9188358