Service mobile robot navigation method in dynamic environment

Abstract

The invention relates to the technical field of mobile robot autonomous navigation and discloses a service mobile robot navigation method in a dynamic environment. The service mobile robot navigation method in the dynamic environment includes the following steps that firstly, position tracking of people can be achieved by utilizing multiple global cameras and robot vehicle-mounted laser sensors in an indoor environment; secondly, the moving mode of people under a specific indoor environment site is trained according to collected samples, and the moving trend of people is predicated; thirdly, a current position and a predicated position of people are merged with an environment static obstacle raster map, and a navigation risk probability map is generated; fourthly, a robot navigation movement controller of a global route planning-local obstacle avoidance control gradational structure is adopted to control robot navigation behavior, and safe and efficient navigation behavior of a robot under a complex dynamic environment where the robot coexists with people is ensured through controlling.

Description

technical field [0001] The invention relates to the technical field of mobile robot navigation, in particular to a navigation method for a service mobile robot in a multi-constraint dynamic environment. Service robots navigate in a dynamic environment co-existing with humans. In addition to conventional obstacle avoidance, there are multiple constraints superimposed on each other, and the interference caused by human motion to the robot is not completely known. The present invention quantifies and predicts this dynamic disturbance, converts other various motion rules of the robot into constraints and integrates them into the reachable cost navigation grid, and realizes multiple constraint conditions by establishing a two-layer cascaded motion controller The robot under the constraints optimizes the navigation behavior control, which helps to improve the reliable navigation operation problem of the service robot after it enters the home in the future. Background technique ...

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Problems solved by technology

[0005] (3) There are obstacles (such as people) that move in a known or predictable way in the environment. At this time, although the traditional local planning method can guarantee obstacle avoidance, it is difficult to improve the global efficiency of navigation by local obstacle avoidance behavior.

Service robots navigate in a dynamic environment co-existing with humans. In addition to conventional obstacle avoidance, there are multiple constraints superimposed on each other. The interference caused by human motion to the robot is not completely known, and the existing technology Most of the schemes do not consider these factors, which restricts the safe and reliable navigation performance of service robots

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