Fast continuous regulation of nonholonomic mobile robots
US12099371B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jun 4, 2021 |
| Grant date | Sep 24, 2024 |
| Priority date | — |
| Expiry date | Jun 10, 2042 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05D1/49
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
Embodiments of the disclosure provide methods and systems for continuous regulation of a nonholonomic mobile robot. An exemplary method may include identifying a current pose of the nonholonomic mobile robot in a world frame, where the current pose is represented by a first set of values defining a first set of states of the nonholonomic mobile robot in the world frame; receiving a final goal pose of the nonholonomic mobile robot, where the final goal pose is represented by a second set of values defining a second set of states of nonholonomic mobile robot in the world frame; determining a moving path for moving the nonholonomic mobile robot from the current pose to the final goal pose; and controlling the nonholonomic mobile robot to move from the current pose to the final goal pose according to the moving path, where the nonholonomic mobile robot moves to the final goal pose by converging the nonholonomic mobile robot from the first set of states to the second set of states simultaneously.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.