Abstract:It is difficult to track the trajectory node of the robot, which leads to the deviation of the actual trajectory of the robot from the desired trajectory. Therefore, an omnidirectional mobile robot trajectory tracking control method based on visual image is designed. Based on the sliding mode variable structure control loop, the kinematic model and dynamic model expression are solved, and the mathematical model of robot moving trajectory is constructed. According to the visual image segmentation standard, the motion image of omnidirectional mobile robot is segmented, and the kinematic feature parameters are extracted by separating the target nodes to complete the tracking process of robot trajectory nodes. The feedforward controller and disturbance observer were set, and the value range of the error vector index was calculated according to the kinematic inequality condition. According to the value, the control ability of the host element was adjusted, and the omnidirectional mobile robot trajectory tracking control was realized. The experimental results show that after the application of the proposed method, the fitting degree between the angular velocity curve, the linear velocity curve and the desired trajectory curve of the omnidirectional mobile robot is more than 90%, which meets the trajectory tracking control requirements of the omnidirectional mobile robot.
