Movement control method for mobile robot
US9327399B2 · kind B2 · utility
Assignee
Inventor
Key dates
| Filing date | Feb 10, 2015 |
| Grant date | May 3, 2016 |
| Priority date | — |
| Expiry date | Feb 10, 2035 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB62D57/032
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A prediction model for predicting a mobile robot state is constructed to represent a state change of the mobile robot in a prediction interval of a predetermined duration; time-series data on a control input to ensure stability of the mobile robot is obtained in the prediction interval using a predetermined stability evaluation criterion and a constraint condition based on a mechanical balance; a center-of-gravity trajectory of the mobile robot is obtained based on the time-series data and prediction model; a slack variable for relaxing a constraint is introduced into a constraint condition; a slack variable is introduced into the stability evaluation criterion such that the variable becomes zero when a solution to a stable trajectory is obtained under the constraint condition and a slack variable value is generated when the trajectory diverges under the constraint condition; and positions of contact points are changed so as to cancel the generated value.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.