Maintenance robot obstacle avoidance planning method

Abstract

The invention belongs to the field of sensing and detection and particularly relates to a maintenance robot obstacle avoidance planning method which is used for creating a polar bar chart based on laser ranging data so as to solve the problem that a potential field method is got into a local minimum easily and chatters frequently and to overcome the defect that the real-time speed of a robot is not considered in an enhanced vector field method in threshold function construction. The method includes creating a polar bar chart, simplifying the polar bar chart through a threshold function, and selecting a maintenance robot advancing direction according to an evaluation function. The method has the advantages of small amount of computation and rapid response; an advancing direction selection range of a next operating period of the robot is narrowed; corresponding computation time and energy consumption is reduced.

Description

technical field [0001] The invention belongs to the field of sensor detection, and in particular relates to a method of constructing a polar coordinate histogram based on laser ranging data to solve the problem that the potential field method is easy to fall into a local minimum and tremble frequently, and overcomes the problem of the enhanced vector field method in the threshold function construction. Collision avoidance planning method for overhaul robot without considering the shortcoming of robot's real-time speed. Background technique [0002] Facing the increasingly severe energy situation, governments around the world are actively developing nuclear power. As we all know, the biggest difference between nuclear power and thermal power is that nuclear reactions will produce ionizing radiation and radioactive waste. Regular maintenance is essential to avoid accidents that could result in radioactive material entering the environment. However, the reactor core, which is...

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Problems solved by technology

However, in addition to the defects of the algorithm itself (such as the artificial potential field method cannot pass through densely distributed obstacle groups, and the vector field method has a large amount of calculation and the calculation process is complicated, resulting in poor real-time performance of the algorithm), they did not consider the real-time speed of the robot, or its environment. The modeling method is only suitable for robots equipped with low-precision sensors (such as ultrasonic sensors) for collision avoidance planning

Therefore, these planning methods are difficult to meet the actual engineering application requirements of maintenance robots

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