The invention relates to the technical field of predictive control, in particular to a hybrid model predictive control method with a penalty factor based on IBVS. Aiming at a mobile robot system constrained by feature point motion, the invention designs a hybrid incremental model prediction control method based on IBVS in order to solve the problems of feature point loss and system instability caused by overlarge target deviation gain when a traditional IBVS control method is applied to an automatic parking control system. According to the method, an optimization function is defined based on the pose deviation and the image feature point deviation of the mobile robot, meanwhile, actuator saturation and speed limitation serve as constraints, traditional IBVS is converted into an optimization problem with constraints in a limited time domain, and therefore the accuracy and real-time performance of trajectory tracking control during automatic parking of the mobile robot are improved. The invention provides an IBVS-based hybrid model prediction control method with a penalty factor, so as to ensure the emergency braking performance of automatic parking of a mobile robot when image feature points are massively shielded by obstacles in a dynamic scene.

    本发明涉及预测控制技术领域,尤其涉及一种基于IBVS带惩罚因子的混合模型预测控制方法。本发明针对受特征点运动约束的移动机器人系统,为解决传统IBVS控制方法应用于自动泊车控制系统时目标偏差增益过大而导致特征点丢失及系统不稳定的问题,设计基于IBVS的混合增量式模型预测控制方法。该方法基于移动机器人位姿偏差及图像特征点偏差定义优化函数,同时将执行器饱和与速度限制作为约束,将传统IBVS转化成一个有限时域内带约束的优化问题,以提高移动机器人自动泊车时轨迹跟踪控制的精确性与实时性。本发明提出的一种基于IBVS带惩罚因子的混合模型预测控制方法,以保证动态场景下图像特征点受障碍物大规模遮挡时移动机器人自动泊车的紧急制动性能。


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    Title :

    Hybrid model prediction control method with penalty factor based on IBVS


    Additional title:

    一种基于IBVS带惩罚因子的混合模型预测控制方法


    Contributors:
    QIN QIUYUE (author) / GU HAOJIE (author) / SUN XINGJIAN (author) / SANG SHUN (author) / MAO JINGFENG (author) / MA XIAOYU (author) / CUI JUNBO (author)

    Publication date :

    2023-11-03


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL



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