Wheel-type robot self-adaptive navigation method based on on-line learning mechanism

Abstract

The invention relates to a wheel-type robot self-adaptive navigation method based on an on-line learning mechanism. Firstly, a wheel-type robot is controlled to learn an appointed path, through a SICK laser range finder, accurate distance information between the surrounding environment and the wheel-type robot is obtained, and an incremental layering discrimination regression algorithm IHDR is employed to store a mapping relation of the distance information and movement control information into a tree structure knowledge base. the wheel-type robot after learning retrieves the knowledge base continuously, obtains motion control quantity through regression, carries out navigation, and carries out background obstacle avoidance based on an obstacle avoidance algorithm of an autonomous fleeing obstacle area, once obstacle avoidance is started, a new mapping relation of the environmental distance information and movement control information is established, and the mapping relation is updated in the knowledge base in real time. The intelligent level of the wheel-type robot is raised, and thus the wheel-type robot has a self-adaptive capability to a complex dynamic environment, and the navigation efficiency is raised under double closed loop combined action of the on-line learning algorithm and the obstacle avoidance algorithm.

Description

technical field [0001] The invention belongs to the technical field of mobile robot navigation. Based on the SICK laser range finder, the accurate distance information between the surrounding environment and the wheeled robot is obtained, an online learning mechanism is adopted to let the wheeled robot learn the navigation path, and a An obstacle avoidance algorithm that autonomously escapes from obstacle areas is used to avoid background obstacles, thereby realizing adaptive navigation of wheeled robots. Background technique [0002] Mobile robot navigation is a hot topic in the field of robotics, and using more streamlined sensors to obtain better paths for navigation has always been a common goal in the industry. [0003] In order to realize the adaptive navigation of the specified path, the traditional navigation method needs to rely on a large amount of sensor information, and at the same time, it needs to perform data fusion processing on various sensor information, wh...

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Problems solved by technology

[0005] The present invention aims at the above-mentioned navigation method based on a single learning mechanism, which is not adaptable to the dynamic environment, and the collision risk always exists, and the problem that the obstacle avoidance navigation based on the laser rangefinder must rely on other sensors to escape from the obstacle area. Provides an adaptive navigation method for wheeled robots based on an online learning mechanism, which solves the problems of insufficient robustness and objective accompaniment of collision risks in dynamic scenes based on single learning mechanism navigation

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