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Non-360-degree targeting navigation method for detecting robot

A navigation method and robot positioning technology, applied in the field of automatic control, can solve the problems of high precision of mechanical devices, not economically feasible, and inapplicable

Active Publication Date: 2010-03-10
SOUTH CHINA AGRI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, there are mainly the following methods for the Bug algorithm to achieve the designated destination around the edge of the obstacle in an unknown environment: (1) the method of the robot tracking the wall, that is, to control the robot to maintain a constant distance from the wall during the movement process, Although this method does not require the robot to have a 360° detection range, it is not suitable for complex situations such as sudden changes in the edge contour of obstacles.
(2) Based on the instant goal (Instant Goal) method, that is, at each sampling point, an instant goal point is established according to the distance sensor information, and the robot tracks the series of instant goal points to finally realize fixed-point navigation, but this method requires the robot to have 360° obstacle detection range and can distinguish whether the edge of the encountered obstacle is a new obstacle or an obstacle that has been encountered
(3) Subgoal (Subgoal) method, which assumes that the obstacles are polygons, establishes subgoal points around the fixed points of these polygons, and realizes non-collision fixed goal navigation through these subgoal points, but this method requires obstacles. The shape must be a geometric polygon, which is often difficult to meet, thus limiting its application
Other studies use mechanical structures to move the ranging sensor to expand the detection range (such as rotating the sonar sensor to increase the scanning range). The disadvantage is that the mechanical device requires high precision. Due to space or cost constraints, this method is not economically feasible.
[0003] None of the existing methods is suitable for robots with a non-360° detection range (that is, the detection range is ≥180°~<360°) and has physical dimensions, so it is of great significance to study the control method of such robots in the unknown environment.

Method used

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Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0084] figure 2 is a schematic diagram of the robot circumventing the edge of an obstacle whose contour is a straight line. The robot advances in a straight line from position X' towards the target, and encounters an obstacle at point O (by the virtual antennae Dsc s Detected) stops and starts to avoid steering until the virtual antenna Dscb detects no obstacles, and the turning angle is β, where β is the angle that the robot turns from when the avoiding steering action ends to when the avoiding steering action ends. Then start walking in a straight line. During the straight-line walking process, the antenna Barl or Barr detects the stroke d until d is greater than a certain value of Rb, which is the position D in the figure. Then it starts to approach the steering, and the turning angle γ is taken as a fixed value. In this design, γ=2β, so that after the TURN-IN at point D ends, it will walk straight to E (repeat the above-mentioned action at point O at this time), and the l...

Embodiment 2

[0086] image 3 It is a schematic diagram of a robot walking in a pure straight line around the edge of a complex obstacle. When the robot walks in a straight line in the mode of circumventing the obstacle edge, the rectangular tentacles of Bar l with Bar r Record the distance d(d l with d r ), when the value of d is greater than R b At this time, it ends by walking in a straight line. In order to ensure the stability of the action in the case of random obstacles, whenever the rectangular antennae Bar l with Bar r When an obstacle is detected, the d value is reset to zero. In other words, d represents the barrier-free walking distance in pure straight line mode, when it is greater than a certain value (D th ) when the pure straight line walking mode ends. image 3 The robot d is cleared at position X’, if the obstacle A 1 exists, then d is leaving A 1 This can effectively ensure that the robot will not be too close to the obstacle when the pure straight line walking...

Embodiment 3

[0088] Figure 4 It is a schematic diagram of the trajectory of the robot around the edge of the thin plate (obstacle). The obstacle is a thin plate, and the robot is required to turn 180° as quickly as possible to get around the edge of the obstacle. The barrier-free walking distance threshold D in the straight-line walking mode in the figure th take as R b , that is, walking in a straight line on the semi-circular antennae Dsc b It ends at the point of intersection with the x-axis (point A in the figure). The orbiting trajectory of the robot determined in this embodiment is the dotted line OABCDEFGHIJK. From the figure it is easy to see whether each turn is an approach turn or a target turn or an avoidance turn. Every time the turning angle is γ, it must turn at least 180 / γ times in the range of 180°, and there may be TURN-OUT in the actual detour process, so the number of pure turns is higher than 180 / γ times.

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Abstract

The invention discloses a non-360-degree targeting navigation method for detecting a robot. The position of the robot at any time is obtained by a robot positioning system; the presence and distribution of obstacles within a certain area in front of the robot and historical route situation are analyzed according to the measurement data of a distance measurement sensor on the robot; and according to different obstacle distribution information, the robot can choose two walking ways such as pure straight way or pure steering way, namely a straight forwarding mode directly toward a target point and a walking mode of bypassing the encountered obstacle, thus realizing fixed target point non-collision navigation in an environment with unknown obstacle distribution. The method does not require therobot to have 360-degree obstacle detecting range, takes the actual size of the robot into consideration, and imposes no limitation to the obstacles (such as edge shape thereof and the like) in an unknown environment, thus having wide scope of application.

Description

technical field [0001] The invention relates to the field of automatic control, in particular to a target-fixed navigation method for a non-360-degree detection robot (with a detection range of ≥180°-<360°). Background technique [0002] Robots avoiding obstacles in an unknown environment to reach the designated destination usually use Bug and its derivative algorithms, which require the robot to have a 360° obstacle detection range, assuming that the robot has no physical size, and the robot can go around the edge of the obstacle, It is a theoretical guidance algorithm for obstacle avoidance navigation of robots with 360° obstacle detection range and no physical size. The core of the Bug algorithm is that the robot has the ability to circle around the edge of the obstacle, including the determination of the contact point and separation point, and the realization of the circle. At present, there are mainly the following methods for the Bug algorithm to achieve the design...

Claims

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Application Information

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IPC IPC(8): G01C21/00G01S17/93G01S15/93
Inventor 罗锡文赵祚喜张智刚周志艳赵汝祺吴晓鹏
Owner SOUTH CHINA AGRI UNIV
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