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Automatic obstacle avoiding method of intelligent detection vehicle based on behavior fusion in unknown environment

A technology of unknown environment and rover, applied in measurement devices, re-radiation of sound waves, radio wave measurement systems, etc. It can solve the problem that weights cannot be adjusted online, and achieve strong association ability, large-scale parallel collaborative processing ability, and strong fault tolerance. effect of ability

Inactive Publication Date: 2010-06-30
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

[0006] The purpose of the present invention is to address the defects existing in the prior art to provide a method with good obstacle avoidance effect, strong robustness, high real-time performance and strong learning ability in an unknown environment, which can realize online adjustment of each basic behavior weight and overcome the unknown environment. Due to environmental changes, the weight cannot be adjusted online, and the target point cannot be successfully reached to complete the specified detection task. The intelligent detection vehicle autonomous obstacle avoidance algorithm

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  • Automatic obstacle avoiding method of intelligent detection vehicle based on behavior fusion in unknown environment
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  • Automatic obstacle avoiding method of intelligent detection vehicle based on behavior fusion in unknown environment

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[0033] The implementation of the invention will be further described below in conjunction with the accompanying drawings. figure 1 It is a flow chart of the method of the present invention, such as figure 1 as shown, figure 2 Is the method structural diagram of the present invention, such as figure 2 As shown, the method includes the following three steps.

[0034]Step 1: According to the target point information and the distance information of the obstacle, the fuzzy control method is used to design the four basic behaviors in the autonomous obstacle avoidance process of the intelligent detection vehicle: approaching target point behavior, obstacle avoidance behavior, tracking behavior and deadlock release behavior. Specifically:

[0035] (1) Environmental coordinate system and control variables

[0036] Firstly, the two-dimensional reference coordinate system of the driving environment of the intelligent probe vehicle is established, and two coordinate systems are defi...

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Abstract

The invention discloses an automatic obstacle avoiding method of an intelligent detection vehicle based on behavior fusion in unknown environment, which comprises the following steps: the first step, adopting a fuzzy control method for designing four basic behaviors in the automatic obstacle avoiding process of the intelligent detection vehicle according to information of target points and distance information of obstacles; the second step, carrying out online regulation based on the weighing of two grades of BP neuronic network on the four basic behaviors of the intelligent detection vehicleaccording to the environment types of the obstacles and the direction angles of the target points; and the third step, adopting a weighing average method for fusing the four basic behaviors of the intelligent detection vehicle to obtain the steering angle change amount and the linear speed of the intelligent detection vehicle, and exerting the steering angle change amount and the linear speed of the intelligent detection vehicle on the intelligent detection vehicle for implementing the control. The invention combines the fuzzy control method, the neuronic network method and the intelligent control method based on the behavior fusion, and realizes the automatic obstacle avoidance of the intelligent detection vehicle in the unknown environment. Compared with the existing algorithm, the method of the invention has the advantages of good obstacle avoiding effect, strong robustness, high real-time performance and strong learning capability.

Description

technical field [0001] The invention relates to an autonomous obstacle avoidance method for an intelligent detection vehicle based on behavior fusion in an unknown environment, and belongs to the field of navigation and intelligent control of intelligent mobile robots. Background technique [0002] The intelligent exploration vehicle belongs to the category of intelligent mobile robots, and its application scope involves engineering exploration, disaster rescue, anti-terrorism and explosion protection, military reconnaissance, planetary exploration, and special missions. With the continuous expansion of the scope of application, the working environment faced by intelligent detection vehicles is becoming more and more complex, often unknown and unstructured. Therefore, intelligent detection vehicles must complete various tasks in real time and safely in this environment For various detection tasks, the design of autonomous obstacle avoidance algorithm is one of the key parts ...

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Application Information

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IPC IPC(8): B60W30/08G01S15/08B60W30/095
Inventor 李舜酩鲍庆勇雷衍斌
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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