Motion control method, system and device for four-wheel differential mobile robot

• Main Authors: YAO XUKE, LIU XIANGCHENG, CHEN CHEN, DONG FANGFANG, HAN JIANG, BI JIABIN, CAI ZHANHUI
• Format: Patent
• Language: Chinese; English
• Published: 14.07.2023
• Subjects: CONTROLLING; PHYSICS; REGULATING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

The invention relates to a motion control method, system and device for a four-wheel differential mobile robot. The motion control method comprises the following steps: S1, collecting motion data, feature data and road condition information of the mobile robot; s2, establishing a plane-coordinate system by taking the road surface where the mobile robot is located as a reference surface; calculating the moving speed of the mobile robot; s3, calculating the next ideal state of the mobile robot by adopting a model prediction method according to the motion data and the feature data; and S4, constructing a control model based on an Actor-Critic framework, training the control model, and outputting an optimal strategy and an optimal control quantity. According to the method, the control quantity is output through the control model, the control model is trained and optimized through the reinforcement learning method, continuous optimization control over the mobile robot is formed, the robustness of the decision maki