Journal of Jilin University(Engineering and Technology Edition) ›› 2021, Vol. 51 ›› Issue (4): 1496-1505.doi: 10.13229/j.cnki.jdxbgxb20200334

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Speed adaptive control of mobile robot based on terrain clustering analysis

Ming LIU1,2(),Xue-wen RONG1(),Yi-bin LI1,Shuai-shuai ZHANG2,Yan-fang YIN2,Jiu-hong RUAN3   

  1. 1.College of Control Science and Engineering，Shandong University，Jinan 250061，China
    2.College of Electrical Engineering and Automation，Shandong University of Science and Technology，Jinan 250031，China
    3.School of Rail Transportation，Shandong Jiaotong University，Jinan 250351，China
  • Received:2020-05-15 Online:2021-07-01 Published:2021-07-14
  • Contact: Xue-wen RONG E-mail:scrobotliuming@126.com;rongxw@sdu.edu.cn

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Abstract:

In order to realize the self-adaptive adjustment of the motion speed of mobile robot in different terrain environments, a method of terrain clustering analysis based on robot vibration information and self-adaptive adjustment of motion speed based on clustering results is proposed. In this method, the acceleration information in the vertical direction and pitch angle information of the robot in the process of motion are used, and the terrain information is clustered based on the improved Gaussian mixture model to obtain the membership degree of the terrain relative to the typical terrain. In combination with the terrain undulation information, the adaptive control of the robot's motion speed is realized through the fuzzy control strategy. In order to verify the correctness and practicability of the proposed method, relevant experiments are carried out on the platform of pioneer 3-At four-wheel drive all terrain robot. The experimental results show that this method can make the robot cluster analysis on different terrain accurately and realize its speed adaptive adjustment under different terrain, which effectively enhances the terrain adaptability of the robot.

Key words: automatic control, terrain, cluster analysis, mobile robot, speed adaptive control

CLC Number: 

  • TP242

Fig.1

Structure of terrain clustering analysis based on improved GMM"

Fig.2

Structure of robot speed adaptive control based on terrain clustering analysis"

Fig.3

Structure of speed adaptive controller"

Fig.4

Testing platform"

Fig.5

Typical terrains"

Fig.6

Relation curve between clustering accuracy and sequence length"

Fig.7

Test results of two models"

Fig.8

Confusion matrix of clustering"

Fig.9

Acceleration curve of robot in vertical direction when moving on tile road with six speeds （0.2-0.7 m/s）"

Fig.10

Relation curve between moving speed of robot on tile road and objective function value"

Fig.11

Planned and actual speed curves of robot in four typical terrain by clustering analysis"

Fig.12

Experimental results of speed control on grassland"

Fig.13

Experimental results of speed control on uneven cement pavement with large slope"

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