Method and device for planning velocity of a mobile apparatus

1. A method for controlling a mobile apparatus, at a computing apparatus, comprising:

acquiring a target weight coefficient according to a target linear velocity of the mobile apparatus;

determining a motion central angle of the mobile apparatus according to a current pose, a target pose, and the target weight coefficient of the mobile apparatus;

calculating a target angular velocity of the mobile apparatus according to the motion central angle and the target linear velocity; and

controlling the mobile apparatus to move from a current position to a target position according to the target linear velocity and the target angular velocity by sending the target linear velocity and the target angular velocity to a control unit of the mobile apparatus.

2. The method according to claim 1 , wherein the acquiring a target weight coefficient according to a target linear velocity of the mobile apparatus comprises:

establishing a fuzzy controller for motion of the mobile apparatus;

inputting the target linear velocity to the fuzzy controller; and

outputting the target weight coefficient by the fuzzy controller according to the target linear velocity.

3. The method according to claim 2 , wherein the establishing a fuzzy controller for motion of the mobile apparatus comprises:

setting a linear velocity level and a linear velocity fuzzy set of the mobile apparatus;

setting a weight coefficient level and a weight coefficient fuzzy set of the mobile apparatus; and

acquiring a fuzzy relationship between a linear velocity membership degree and a weight coefficient membership degree, according to the linear velocity level, the linear velocity fuzzy set, the weight coefficient level, and the weight coefficient fuzzy set.

4. The method according to claim 3 , wherein the acquiring a fuzzy relationship between a linear velocity membership degree and a weight coefficient membership degree, according to the linear velocity level, the linear velocity fuzzy set, the weight coefficient level, and the weight coefficient fuzzy set comprises:

determining a linear velocity membership degree function according to the linear velocity level and the linear velocity fuzzy set;

determining a weight coefficient membership degree function according to the weight coefficient level and the weight coefficient fuzzy set;

calculating, according to the linear velocity membership degree function, the linear velocity membership degree of the linear velocity level to each of elements of the linear velocity fuzzy set, respectively;

calculating, according to the weight coefficient membership degree function, the weight coefficient membership degree of the weight coefficient level to each of elements of the weight coefficient fuzzy set, respectively; and

acquiring the fuzzy relationship between the linear velocity membership degree and the weight coefficient membership degree, according to the linear velocity membership degree of the linear velocity level to each of the elements of the linear velocity fuzzy set and the weight coefficient membership degree of the weight coefficient level to each of the elements of the weight coefficient fuzzy set.

5. The method according to claim 4 , wherein the linear velocity fuzzy set is represented by V={VS v , S v , M v , F v , VF v }, the weight coefficient fuzzy set is represented by A={VS α , S α , M α , B α , VB α }; and the establishing a fuzzy controller for motion of the mobile apparatus further comprises:

making a fuzzy rule according to the linear velocity fuzzy set and the weight coefficient fuzzy set as follows:

If V=VS v , then A=VS α ;

If V=S v , then A=S α ;

If V=M v , then A=M α ;

If V=F v , then A=B α ;

If V=VF v , then A=VB α .

6. The method according to claim 4 , wherein the outputting the target weight coefficient by the fuzzy controller according to the target linear velocity comprises:

acquiring a membership degree of the target linear velocity to the linear velocity fuzzy set according to the linear velocity membership degree function;

acquiring a membership degree of the target weight coefficient according to the fuzzy relationship and the membership degree of the target linear velocity to the linear velocity fuzzy set; and

defuzzying the membership degree of the target weight coefficient according to a maximum membership degree principle to acquire the target weight coefficient.

7. The method according to claim 1 , wherein the current pose comprises a current position S and a current attitude angle θ 0 of the mobile apparatus; the target pose comprises a target position G and a target attitude angle θ g of the mobile apparatus.

8. The method according to claim 7 , wherein the motion central angle θ of the mobile apparatus is determined according to the following formula:

θ=α(θ g −θ 0 )+(1−α)(θ 1 −θ 0 )

wherein, α denotes the target weight coefficient; θ 1 denotes a tangent attitude angle of a circle O and the target position G, wherein the circle O passes through both the current position S and the target position G and is tangent to the current attitude angle θ 0 .

9. The method according to claim 8 , wherein the calculating a target angular velocity of the mobile apparatus according to the motion central angle and the target linear velocity comprises:

acquiring a radius of a circle of the motion of the mobile apparatus according to the motion central angle and a distance between the current position and the target position; and

acquiring the target angular velocity according to the radius and the target linear velocity.

10. The method according to claim 1 , further comprises:

sending the target linear velocity and the target angular velocity to the control unit of the mobile apparatus at a set frequency.

11. The method according to claim 1 , wherein the mobile apparatus is a forward-turn rear-drive robot.

12. A non-transitory computer readable storage medium having stored thereon a computer program, when being executed by a processor, the computer program implements the method for controlling a mobile apparatus, the method comprising:

acquiring a target weight coefficient according to a target linear velocity of the mobile apparatus;

determining a motion central angle of the mobile apparatus according to a current pose, a target pose, and the target weight coefficient of the mobile apparatus;

calculating a target angular velocity of the mobile apparatus according to the motion central angle and the target linear velocity; and

controlling the mobile apparatus to move from a current position to a target position according to the target linear velocity and the target angular velocity by sending the target linear velocity and the target angular velocity to a control unit of the mobile apparatus.

13. An electronic device, comprising:

at least one processor;

a memory communicatively coupled to the at least one processor:

wherein the memory stores instructions which, when executed by the at least one processor, causes the at least one processor to:

acquiring a target weight coefficient according to a target linear velocity of the mobile apparatus;

determining a motion central angle of the mobile apparatus according to a current pose, a target pose, and the target weight coefficient of the mobile apparatus;

calculating a target angular velocity of the mobile apparatus according to the motion central angle and the target linear velocity; and

controlling the mobile apparatus to move from a current position to a target position according to the target linear velocity and the target angular velocity by sending the target linear velocity and the target angular velocity to a control unit of the mobile apparatus.

14. The electronic device according to claim 13 , wherein the acquiring a target weight coefficient according to a target linear velocity of the mobile apparatus comprises:

establishing a fuzzy controller for motion of the mobile apparatus;

inputting the target linear velocity to the fuzzy controller; and

outputting the target weight coefficient by the fuzzy controller according to the target linear velocity.

15. The electronic device according to claim 14 , wherein the establishing a fuzzy controller for motion of the mobile apparatus comprises:

setting a linear velocity level and a linear velocity fuzzy set of the mobile apparatus;

setting a weight coefficient level and a weight coefficient fuzzy set of the mobile apparatus; and

acquiring a fuzzy relationship between a linear velocity membership degree and a weight coefficient membership degree, according to the linear velocity level, the linear velocity fuzzy set, the weight coefficient level, and the weight coefficient fuzzy set.

16. The electronic device according to claim 15 , wherein the acquiring a fuzzy relationship between a linear velocity membership degree and a weight coefficient membership degree, according to the linear velocity level, the linear velocity fuzzy set, the weight coefficient level, and the weight coefficient fuzzy set comprises:

determining a linear velocity membership degree function according to the linear velocity level and the linear velocity fuzzy set;

determining a weight coefficient membership degree function according to the weight coefficient level and the weight coefficient fuzzy set;

calculating, according to the linear velocity membership degree function, the linear velocity membership degree of the linear velocity level to each of elements of the linear velocity fuzzy set, respectively;

calculating, according to the weight coefficient membership degree function, the weight coefficient membership degree of the weight coefficient level to each of elements of the weight coefficient fuzzy set, respectively; and

acquiring the fuzzy relationship between the linear velocity membership degree and the weight coefficient membership degree, according to the linear velocity membership degree of the linear velocity level to each of the elements of the linear velocity fuzzy set and the weight coefficient membership degree of the weight coefficient level to each of the elements of the weight coefficient fuzzy set.

17. The electronic device according to claim 16 , wherein the outputting the target weight coefficient by the fuzzy controller according to the target linear velocity comprises:

acquiring a membership degree of the target linear velocity to the linear velocity fuzzy set according to the linear velocity membership degree function;

acquiring a membership degree of the target weight coefficient according to the fuzzy relationship and the membership degree of the target linear velocity to the linear velocity fuzzy set; and

defuzzying the membership degree of the target weight coefficient according to a maximum membership degree principle to acquire the target weight coefficient.

18. The electronic device according to claim 13 , wherein the current pose comprises a current position S and a current attitude angle θ 0 of the mobile apparatus; the target pose comprises a target position G and a target attitude angle θ g of the mobile apparatus.

19. The electronic device according to claim 18 , wherein the motion central angle θ of the mobile apparatus is determined according to the following formula:

θ=α(θ g −θ 0 )+(1−α)(θ 1 −θ 0 )

wherein, α denotes the target weight coefficient; θ 1 denotes a tangent attitude angle of a circle O and the target position G, wherein the circle O passes through both the current position S and the target position G and is tangent to the current attitude angle θ 0 .

20. The electronic device according to claim 19 , wherein the calculating a target angular velocity of the mobile apparatus according to the motion central angle and the target linear velocity comprises:

acquiring a radius of a circle of the motion of the mobile apparatus according to the motion central angle and a distance between the current position and the target position; and

acquiring the target angular velocity according to the radius and the target linear velocity.