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Flow field based intelligent robot obstacle-avoiding method

A technology of intelligent robots and mobile robots, which is applied in the direction of instruments, target-finding control, position/direction control, etc. It can solve problems such as oscillation and local extremum, and achieve smooth paths, good motion planning, and high solution efficiency.

Inactive Publication Date: 2008-09-17
PEKING UNIV
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  • Description
  • Claims
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AI Technical Summary

Problems solved by technology

The disadvantage of this method is that there are local extrema and oscillations near obstacles
The intelligent method is mainly to apply some theoretical achievements in the field of artificial intelligence to the motion planning of robots, which is quite effective, but it also has certain limitations.

Method used

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  • Flow field based intelligent robot obstacle-avoiding method
  • Flow field based intelligent robot obstacle-avoiding method
  • Flow field based intelligent robot obstacle-avoiding method

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Embodiment Construction

[0024] The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.

[0025] like figure 1 As shown, the surface element method is a method used in fluid mechanics to solve the problem of flowing around objects with arbitrary shapes. This method is to cover the surface of the studied object with a limited number of small areas. These small areas are called surface elements. Each A singular point of undetermined strength is arranged on a facet. The effect of arranging these singular points is to deflect the flow in the future so that the fluid flows along the surface of the object. Using the condition that the fluid velocity must be tangent to a specific position on each surface element, a set of equations can be obtained, which can be used to solve The strength of the singularity on the surface element, the synthetic flow field can be determined after the singularity distribution is obtained. Taking a planar problem a...

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Abstract

The invention relates to an intelligent robot obstacle avoiding method based on flow field. It includes the following steps: building the center of robot as point resource, and target point as points converging, and the flow field of obstacle or building a paralleling flow from original point to target point, and adding flow field of obstacle; building the basic formula group and boundary condition that the flow satisfied; solving the flow formula to gain speed and direction of each point in flow field; selecting the speed and direction of one flow line as the input of controlling robot.

Description

technical field [0001] The invention relates to an obstacle avoidance method for an intelligent robot, in particular to an obstacle avoidance method for an intelligent robot based on a flow field. Background technique [0002] As an emerging discipline, robotics has only a history of more than 50 years, but during this period, its research field has expanded from industrial manufacturing to aerospace, military, nuclear industry, service industry, etc. , sensor, signal processing and other multi-disciplinary disciplines. In 1962, the American Universal Automation Company manufactured the first robot, marking the birth of the first generation of robots. Since the 1970s, with the rapid development of microelectronics and computer technology, and the continuous deepening of robot research, the robot industry has flourished, and robot research has also entered a new stage of development. [0003] Functionally, robots can be divided into three generations. The first generation ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/00G05D1/12
Inventor 邵金燕王龙谢广明
Owner PEKING UNIV
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