公开(公告)号：US20190202428A1

公开(公告)日：2019-07-04

申请号：US16231970

申请日：2018-12-25

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Xiangnan Gu ,  Yanhui Zhang ,  Xianli Jiang

IPC: B60W10/16 ,  G05D1/02 ,  G01C3/20

CPC classification number: B60W10/16 ,  G01C3/20 ,  G05D1/0223 ,  G05D1/0236 ,  G05D2201/02

Abstract: A method for controlling a wheeled robot to move along a circular trajectory includes: determining a first distance between a laser emitter and a center of a circular trajectory on a surface where the robot moves and a second, perpendicular distance from the laser emitter to the surface, calculating a radius of the circular trajectory based on the first distance and the second distance, calculating, based on the radius, a distance between a first wheel and a second wheel, a ratio of a first linear velocity of the first wheel to a second linear velocity of the second wheel, and determining a first rotational speed and a second rotational speed based on the ratio, and controlling the first servo to operate at the first rotational speed and the second servo to operate at the second rotational speed so as to drive the robot to move along the circular trajectory.