Wheel type mobile robot navigation method based on IHDR self-learning frame

A mobile robot and navigation method technology, applied in two-dimensional position/channel control, etc., can solve problems such as poor adaptability, inability to adapt to complex, changeable and unknown environments, and achieve efficiency and success rate improvement, intelligence high degree of effect

Active Publication Date: 2015-08-19
WUHAN UNIV OF SCI & TECH
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Problems solved by technology

This mathematical model-based navigation method requires the robot to re-plan in the new environment, which is reflected in: ① cannot adapt to the complex, ...

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  • Wheel type mobile robot navigation method based on IHDR self-learning frame
  • Wheel type mobile robot navigation method based on IHDR self-learning frame
  • Wheel type mobile robot navigation method based on IHDR self-learning frame

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Embodiment Construction

[0035] The mobile robot manually trains the robot's "walking" behavior, stores the corresponding learning mechanism, and then moves autonomously in the same environment without human control. Attached below Figure 1-5 The present invention is described in detail:

[0036] The present invention communicates with the upper computer through the handle controller to control the robot to move forward, backward, left, and right through the motion control card, and collects some image information and depth information that the robot "sees" through the kincet sensor, and then uses the IHDR algorithm to establish the IHDR tree structure. The autonomous learning framework stores the learned "knowledge" in the knowledge base, and finally, without human intervention, the robot can retrieve the IHDR tree structure in real time to obtain the corresponding motion data and feed it back to the robot to realize the autonomous movement of the robot; including The main steps are as follows:

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Abstract

The invention relates to a wheel type mobile robot navigation method based on an IHDR self-learning frame. The method comprises following steps: firstly, a robot is guided to move, and in the process, the robot is controlled to acquire current image information and speed values in real time via a kinect sensor and a handle; then the IHDR algorithm is employed to establish a mapping relation between image input and speed value output and store a lot of acquired data in the robot in the manner of a "knowledge" tree-shaped structure; finally, the robot can search in a knowledge base according to the current image information without human intervention so that self navigation is realized. According to the method, the robot has the same thinking mode with people, a cognitive ability is reflected, the navigation is not realized via a mathematical model in a conventional manner, and the intelligent degree is higher.

Description

technical field [0001] The invention belongs to the technical field of navigation of wheeled mobile robots, and relates to a method for obtaining image information based on kinect and enabling the robot to have autonomous navigation through artificial training. Background technique [0002] With the development of sensor technology, more and more sensors are carried on the robot. For example, how far the robot is from the obstacle in front is measured by the sick laser rangefinder; the image information is obtained by the kinect sensor, and the SLAM (Simultaneous Localization and Mapping, real-time simultaneous positioning and map construction) algorithm is used for three-dimensional composition; the digital compass Know the relative coordinates where the robot is located, the azimuth angle it has turned, etc. The development of these sensor technologies makes robots more and more intelligent, and more and more functions can be realized. However, robot navigation is still ...

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Application Information

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IPC IPC(8): G05D1/02
Inventor 吴怀宇李威凌钟锐陈洋张琴丽牛洪芳
Owner WUHAN UNIV OF SCI & TECH
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