Method for ensuring navigation safety of mobile robots in unknown environments

Abstract

The invention provides a method for ensuring navigation safety of a mobile robot in the unknown environments, comprising the following steps: 1) building a local grid map of the current environment and determining occupation probability of each grid; 2) constructing the structure of a fuzzy neural network controller; and 3) enabling the fuzzy neural network controller to output the correct speed command of the mobile robot in accordance with the current partial grid map, the current position information of the robot and the current output movement speed and the turning angle of an autonomous navigation system of the mobile robot. The method can overcome the problem that the single navigating and decision-making system is not high in reliability, avoid the mobile robot from such accidents as collision because of mistaken decision-making of the autonomous navigation system and ensure the safety of the mobile robot in the processes of exploration and movement in the unknown environments.

Description

technical field [0001] The invention belongs to the technical field of robot navigation and artificial intelligence control, and relates to a method for safe navigation of a mobile robot in an unknown environment. Background technique [0002] In the past 20 years, with the rapid development of artificial intelligence technology and computer technology, research on autonomous intelligent mobile robots has received significant attention. At present, intelligent mobile robots are widely used in industry, agriculture, transportation, military, medical and health industries to solve work problems in dangerous environments and replace human heavy work. Behavior control and artificial potential field method are the two most common methods in the autonomous navigation system of mobile robots. The robot makes decisions based on the sensor information (infrared, sonar, laser and other ranging information, visual information, etc.) acquired in the current local area. Change the steer...

AI Technical Summary

Problems solved by technology

[0004] The technical problem to be solved by the present invention is to provide a method for safe navigation of mobile robots in an unknown environment, which can automatically judge the correctness of the decision-making information of the autonomous navigation system of the mobile robot and correct wrong instructions online, and can overcome the difficulties of a single autonomous navigation decision-making system. Applicable to the shortcomings of all environments and emergencies, correct the error information output by the autonomous navigation system, avoid accidents such as collisions caused by wrong decisions of the autonomous navigation system, improve the reliability of the autonomous navigation system, and ensure that the mobile robot can operate in an unknown environment. Safety during exploration and movement

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