Disclosed are a control method, a control device, a movable platform and a storage medium. The method comprises the following steps of acquiring a stationary instruction (S101) for controlling the movable platform on a ramp; determining initial acceleration (S102) of the movable platform according to deviation between a target position pointed to by the stationary instruction and the current position of the movable platform; determining the compensation acceleration (S103) of the movable platform based on the slope of the ramp; according to the initial acceleration and the compensation acceleration, determining movement speed (S104) of the movable platform; based on the movement speed, determining target rotating speed of multiple universal wheels so that a motor controller controls multiple motors to achieve the target rotating speed (S105). Thus, the movable platform can kept stationary on the ramp.
一种控制方法、控制设备、可移动平台以及计算机可读存储介质,该方法包括:获取用于控制可移动平台在坡道上的静止指令(S101);根据该静止指令指向的目标位置与该可移动平台当前位置的偏差,确定该可移动平台的初始加速度(S102);以及,基于该坡道的坡度确定该可移动平台的补偿加速度(S103);根据该初始加速度以及该补偿加速度确定该可移动平台的移动速度(S104);基于该移动速度确定多个全向轮的目标转速,以由电机控制器控制多个电机达到该目标转速(S105);由此实现可移动平台可以在坡道上保持静止状态。
Control method, control device, movable platform and storage medium
控制方法、控制设备、可移动平台以及存储介质
2020-12-29
Patent
Electronic Resource
Chinese
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