一种具有通信约束的移动机器人滚动时域估计方法

• Format: Patent
• Language: Chinese
• Published: 26.02.2021
• Subjects: CONTROL OR REGULATING SYSTEMS IN GENERAL; CONTROLLING; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS; PHYSICS; REGULATING

一种具有通信约束的移动机器人滚动时域估计方法，包括以下步骤：1)考虑网络丢包和数据量化的影响，将移动机器人路径跟踪问题建模为一类具有随机变量和参数不确定的跟踪误差状态空间模型；2)设计滚动时域估计性能指标函数；3)利用min-max设计准则和随机系统方法，给出状态估计器的参数化设计过程。本发明提供了一种可以有效解决具有数据丢包和信息量化的移动机器人路径跟踪系统的状态估计方法。 A mobile robot rolling time domain estimation method having communication constraints includes the following steps: 1) considering influence of network packet loss and data quantification, modeling the mobile robot path tracking problem into a tracking error state space model with random variables and uncertain parameters; 2) designing a rolling time domain estimation performance index function; and 3) utilizing a min-max design criterion and a random system method to provide a parametrization design process of a state estimator. The invention provides a state estimation method for a mobile robot path tracking system, and the method can effectively solve the problems of data packet loss and information qualification.