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., can solve problems such as local extremum and oscillation, and achieve the effects of smooth path, good motion planning, and high solution efficiency
CN101025628AInactive Publication Date: 2007-08-29PEKING UNIV
0 Cites 25 Cited by

Patent Information

Authority / Receiving Office
CN ยท China
Patent Type
Applications(China)
Current Assignee / Owner
PEKING UNIV
Publication Date
2007-08-29
Estimated Expiration
Not applicable ยท inactive patent

Smart Images

  • Figure 1
    Figure 1
  • Figure 2
    Figure 2
  • Figure 3
    Figure 3
Patent Text Reader

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.
Need to check novelty before this filing date? Find Prior Art

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

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More