Autonomous mobile device and control method thereof
The present disclosure provides a control method for an autonomous mobile device. The control method includes obtaining a pose of a target point; determining motion control parameters based on the pose of the target point; and controlling, according to the motion control parameters, the autonomous mobile device to move along a motion trajectory. A path curvature of the motion trajectory includes an inverse proportional function of a distance from the autonomous mobile device to the target point. A coefficient of the inverse proportional function includes a term that is functionally related to a lateral offset between the autonomous mobile device and the target point, where the lateral offset is associated with an orientation of the target point.
1 . A control method for an autonomous mobile device, the method comprising:
obtaining a pose of a target point comprising:
obtaining a plurality of target poses of the target point at a plurality of time points through a sensor system, the plurality of target poses at the plurality of time points comprising a first target pose at a first time point, and the first target pose being detected and obtained by an optical radar on the autonomous mobile device; and
calculating a weighted average of the plurality of target poses to obtain a current target pose, a weight corresponding to the first target pose being negatively correlated with a distance between the target point and the autonomous mobile device;
determining one or more motion control parameters based on the pose of the target point; and
controlling the autonomous mobile device to move along a motion trajectory based on the one or more motion control parameters,
wherein a path curvature of the motion trajectory comprises an inverse proportional function of a distance between the autonomous mobile device and the target point, a coefficient of the inverse proportional function comprises a term functionally related to a lateral offset between the autonomous mobile device and the target point, and the lateral offset is associated with an orientation of the target point.
2 . The method of claim 1 , wherein the lateral offset is further associated with a position of the autonomous mobile device.
3 . The method of claim 1 , wherein obtaining of the plurality of target poses of the target point at the plurality of time points through the sensor system comprises:
detecting the target point through the sensor system to obtain a sensing result; and
transforming the sensing result into an odometry coordinate system to obtain one of the plurality of target poses.
4 . The method of claim 3 , further comprising:
detecting a motion of the autonomous mobile device through the sensor system;
calculating a current device pose of the autonomous mobile device in the odometry coordinate system based on the motion; and
calculating a current relative pose between the target point and the autonomous mobile device based on the current target pose and the current device pose.
5 . The method of claim 1 , wherein the plurality of target poses at the plurality of time points comprises a second target pose at a second time point, the second target pose is detected and obtained by a camera on the autonomous mobile device, and a weight corresponding to the second target pose is negatively correlated with a velocity of the autonomous mobile device at the second time point.
6 . The method of claim 1 , further comprising:
determining a pose difference between the autonomous mobile device and the target point;
deciding whether to stop the autonomous mobile device based on the pose difference;
after stopping the autonomous mobile device, re-obtaining the pose of the target point through the sensor system; and
correcting a pose error of the autonomous mobile device based on the re-obtained pose of the target point, wherein the pose error comprises at least one of a lateral error, a longitudinal error, and an angle error.
7 . The method of claim 1 , wherein the one or more motion control parameters comprise a linear velocity and an angular velocity, and determining the one or more motion control parameters based on the pose of the target point comprises:
determining the linear velocity;
calculating a current curvature based on a current distance between the autonomous mobile device and the target point, a current orientation of the autonomous mobile device, and a current orientation of the target point; and
calculating the angular velocity based on the linear velocity and the current curvature.
8 . The method of claim 1 , wherein the autonomous mobile device comprises a Non-Omnidirectional Drive system.
9 . An autonomous mobile device, comprising:
a sensor system;
a drive system; and
a controller coupled to the sensor system and the drive system, and configured to:
obtain a pose of the target point comprising:
obtaining a plurality of target poses of the target point at a plurality of time points through the sensor system, the plurality of target poses at the plurality of time points comprising a first target pose at a first time point, and the first target pose being detected and obtained by an optical radar on the autonomous mobile device; and
calculating a weighted average of the plurality of target poses to obtain a current target pose, a weight corresponding to the first target pose being negatively correlated with a distance between the target point and the autonomous mobile device;
determine one or more motion control parameters based on the pose of the target point; and
control the autonomous mobile device to move along a motion trajectory based on the one or more motion control parameters,
wherein a path curvature of the motion trajectory comprises an inverse proportional function of a distance between the autonomous mobile device and the target point, a coefficient of the inverse proportional function comprises a term functionally related to a lateral offset between the autonomous mobile device and the target point, and the lateral offset is associated with an orientation of the target point.
10 . The autonomous mobile device of claim 9 , wherein the lateral offset is further associated with a position of the autonomous mobile device.
11 . The autonomous mobile device of claim 9 , wherein obtaining of the plurality of target poses of the target point at the plurality of time points through the sensor system comprises:
detecting the target point through the sensor system to obtain a sensing result; and
transforming the sensing result into an odometry coordinate system to obtain one of the plurality of target poses.
12 . The autonomous mobile device of claim 11 , wherein the controller is further configured to:
detect a motion of the autonomous mobile device through the sensor system;
calculate a current device pose of the autonomous mobile device in the odometry coordinate system based on the motion; and
calculate a current relative pose between the target point and the autonomous mobile device based on the current target pose and the current device pose.
13 . The autonomous mobile device of claim 9 , wherein the plurality of target poses at the plurality of time points comprises a second target pose at a second time point, the second target pose is detected and obtained by a camera on the autonomous mobile device, and a weight corresponding to the second target pose is negatively correlated with a velocity of the autonomous mobile device at the second time point.
14 . The autonomous mobile device of claim 9 , wherein the controller is further configured to:
determine a pose difference between the autonomous mobile device and the target point;
decide whether to stop the autonomous mobile device based on the pose difference;
after stopping the autonomous mobile device, re-obtain the pose of the target point through the sensor system; and
correct a pose error of the autonomous mobile device based on the re-obtained pose of the target point, wherein the pose error comprises at least one of a lateral error, a longitudinal error, and an angle error.
15 . The autonomous mobile device of claim 9 , wherein the one or more motion control parameters comprise a linear velocity and an angular velocity, and determining the one or more motion control parameters based on the pose of the target point comprises:
determining the linear velocity;
calculating a current curvature based on a current distance between the autonomous mobile device and the target point, a current orientation of the autonomous mobile device, and a current orientation of the target point; and
calculating the angular velocity based on the linear velocity and the current curvature.
16 . The autonomous mobile device of claim 9 , wherein the drive system comprises a Non-Omnidirectional Drive system.