Trajectory Correction Control Method for Autonomous Mobile Robots based on Embedded Laser Ranging
Wenlian Guo, Baochen Yang, Lei Zhang · International Journal of Intelligent Systems Technologies and Applications · 2024
In order to reduce the movement deviation of robots, a trajectory correction control method for autonomous mobile robots based on embedded laser ranging is proposed. Firstly, a two-dimensional embedded laser rangefinder is used to obtain point cloud data of the robot's movement, and the robot's movement distance is analysed. Next, proceed with developing the robot's kinematic model and formulating the generalised dynamic equations. Ultimately, the adaptive Monte Carlo algorithm is applied to precisely determine the robot's location and compute the variance between the robot's coordinates and the primary point. Leveraging the classic PID algorithm, a control system for correcting distance and angle is established to enable precise trajectory adjustments for the robot. Notably, empirical findings demonstrate a remarkable 98.4% success rate in robot positioning using the proposed method, while discrepancies in the X-axis, Y-axis, and yaw angle closely correspond to the true values.