Barrier-avoiding method for mobile robot based on moving estimation of barrier

A mobile robot and motion prediction technology, applied in the field of intelligent robots, can solve problems such as failure to avoid obstacles, and achieve the effect of reducing restrictions

Inactive Publication Date: 2009-02-04
ZHEJIANG UNIV
View PDF0 Cites 85 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Any collision strategy or algorithm has its scope of application, and failure of obstacle avoidance will inevitably occur. At

Method used

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
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Barrier-avoiding method for mobile robot based on moving estimation of barrier
  • Barrier-avoiding method for mobile robot based on moving estimation of barrier
  • Barrier-avoiding method for mobile robot based on moving estimation of barrier

Examples

Experimental program
Comparison scheme
Effect test

Example Embodiment

[0033] The present invention composes an implementation platform using one Pioneer 3-AT and three AmigoBot small robots. Pioneer 3-AT is used as a mobile robot (hereinafter referred to as robot), and three AmigoBot small robots simulate dynamic obstacles (hereinafter referred to as obstacles) in the environment. The SICK laser scanner and BumbleBee2 binocular vision sensor equipped on Pioneer 3-AT are used to perceive environmental information and obstacle information. Place the mobile robot and dynamic obstacles in an empty room, and the robot will start from the starting point and reach the destination.

[0034] (1) such as figure 1 As shown, in the process of moving, the robot divides the space around the robot into 3 areas with the robot as the center. From the outside to the inside, they are: Path Planning Area (PPA) and Collision Avoidance Area Area, CAA) and Urgent Escape Area (UEA);

[0035] (2) The robot judges the area where the obstacle is currently located according t...

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

PUM

No PUM Login to view more

Abstract

The invention discloses a mobile robot obstacle avoidance method based on obstacle movement prediction, comprising the following steps: in the robot moving process, a robot is taken as the center, and the space around the robot is be divided into three regions which comprise, from the outside to the inside, a path planning region, a conflict avoidance region and an emergency escape region; in accordance with the movement state of the obstacle, the robot judges at which region the obstacle is located and predicts the movement state of the obstacle in the next time; according to the region in which the obstacle is located, the robot carries out different obstacle avoidance strategies. The method adopts CV, CA and CS models to describe the movement of dynamic obstacles to reduce the restrictions on the movement state of dynamic obstacles. The method predicts the movement state of the obstacle through IMM algorithm and gets accurate prediction results, so that the mobile robot can carry out dynamic obstacle avoidance in a small scale, rather than large-scale deviation from the originally planned path.

Description

technical field [0001] The invention relates to the technical field of intelligent robots, in particular to an obstacle avoidance method for a mobile robot based on obstacle motion prediction. Background technique [0002] The so-called robot obstacle avoidance is to avoid the surrounding obstacles during the robot navigation process. With the in-depth development and wide application of robot technology, higher requirements are put forward for the intelligence of robots. The robot must be able to rely on external sensors, perceive its own motion state and surrounding environment information, and perform logical reasoning. In addition to avoiding static obstacles, it must also avoid dynamic obstacles and collisions with other robots. [0003] At present, many scholars at home and abroad have carried out in-depth research on the problem of dynamic obstacle avoidance. Khatib proposed the artificial potential field method (Khatib O. Real time obstacle avoidance for manipulato...

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

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): G05D1/02
Inventor 陈耀武蒋荣欣张亮
Owner ZHEJIANG UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap