Mobile robot obstacle detecting and avoiding method and system

A mobile robot, obstacle detection technology, applied in two-dimensional position/channel control and other directions, to achieve the effect of optimal waiting time

Active Publication Date: 2015-12-23
SHANDONG ZHONGHAO PLASTIC IND CO LTD
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Problems solved by technology

[0005] The invention solves the problem of obstacle detection and avoidanc...

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  • Mobile robot obstacle detecting and avoiding method and system
  • Mobile robot obstacle detecting and avoiding method and system
  • Mobile robot obstacle detecting and avoiding method and system

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Embodiment Construction

[0084] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings that need to be used in the description of the embodiments or the prior art will be briefly introduced below. The invention is exemplary and should not be construed as limiting the invention. The following description describes numerous specific details to facilitate an understanding of the present invention. However, in certain instances, well-known or conventional details are not described in order to satisfy the requirement of conciseness of the description.

[0085] In order to visualize the advantages of this method, we first introduce Figure 1-3 .

[0086] figure 1 It is a schematic diagram of a currently existing mobile robot walking according to path planning between two points, including: a mobile robot 101 , an initial position 102 , a target position 103 , a walking path 104 , and a static obstacle 105 . If t...

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Abstract

The invention provides a mobile robot obstacle detecting and avoiding method and a system. The method comprises steps: information of an obstacle in a detection region is acquired, the state of the obstacle in the detection region is judged according to the acquired obstacle information, states comprise a static state and a mobile state, and an avoiding strategy of the mobile robot is determined according to the state of the obstacle. The invention also provides a mobile robot obstacle detecting and avoiding system, which comprises a ranging sensor, a state judger and a mobile robot driving structure. When the method and the system of the invention are used, different obstacle avoiding strategies can be adjusted according to obstacle appearing time, an obstacle avoiding behavior of walking along the original path is increased compared with the existing obstacle detouring mode, if the obstacle leaves in a set time or the obstacle leaves after appearing instantaneously, the mobile robot can walk continuously according to the planned path, and demands of a path planner can be better met.

Description

technical field [0001] The invention relates to an obstacle detection and avoidance method and system for a mobile robot, which can realize automatic obstacle detection and intelligent obstacle avoidance. The invention belongs to the field of intelligent control of mobile robots. Background technique [0002] In recent years, with the rapid development of mobile robots, obstacle detection and avoidance is an important manifestation of its intelligence level. Good obstacle avoidance function is an important guarantee for the safe walking of mobile robots. [0003] Obstacle avoidance is an existing common obstacle avoidance method, that is, whether the mobile robot encounters static obstacles or dynamic obstacles, it chooses to go around to avoid obstacles. Although this method solves the problem of obstacle avoidance, in terms of dynamic obstacles, such as multiple pedestrians appearing on the walking path, if this method is used, the mobile robot will detour many times, wh...

Claims

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Application Information

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IPC IPC(8): G05D1/02
Inventor 徐清霞张小章征贵
Owner SHANDONG ZHONGHAO PLASTIC IND CO LTD
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