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Title:
METHOD AND DEVICE FOR CONTROLLING MOVEMENT OF AUTONOMOUS MOBILE MACHINE, MACHINE AND STORAGE MEDIUM
Document Type and Number:
WIPO Patent Application WO/2019/184179
Kind Code:
A1
Abstract:
Disclosed is a method for controlling the movement of an autonomous mobile machine, comprising: acquiring a target path and the current state of an autonomous mobile machine; obtaining, by means of computation, at least one preview distance according to the current speed; obtaining, according to the target path and the at least one preview distance, a preview point corresponding to each preview distance; computing a lateral deviation from each preview point to the current position; obtaining direction-control turning angle parameters of a current control period according to the horizontal deviation, the current speed, and a preset parameter matching table; and controlling, according to the direction-control turning angle parameters, the autonomous mobile machine to move. Further disclosed in the present invention are a device for controlling the movement of an autonomous mobile machine, a machine and a storage medium, which can quickly acquire suitable direction-control turning angle parameters, improve the computation efficiency, and can adjust parameters in a parameter matching table according to actual situations, so that the machine control is more stable and accurate.

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Inventors:
WENG SHIJING (CN)
WANG XIAOBO (CN)
ZHA HONGSHAN (CN)
QIU MINGZHE (CN)
LIN XIAOMIN (CN)
Application Number:
PCT/CN2018/098532
Publication Date:
October 03, 2019
Filing Date:
August 03, 2018
Export Citation:
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Assignee:
GUANGZHOU AUTOMOBILE GROUP CO (CN)
International Classes:
G05D1/02
Foreign References:
CN107153420A2017-09-12
CN107428337A2017-12-01
CN107292048A2017-10-24
US20050240334A12005-10-27
Attorney, Agent or Firm:
SCIHEAD IP LAW FIRM (CN)
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