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Dynamic obstacle-avoiding method of omnidirectional mobile robot

A technology of dynamic obstacle avoidance and omnidirectional movement, which is applied in the field of robotics and can solve problems such as untimely and redundant obstacle avoidance, incomplete information symmetry of a single robot, and it is difficult for inertial robots to achieve speed immediately.

Active Publication Date: 2016-01-06
SUN YAT SEN UNIV
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  • Abstract
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  • Claims
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AI Technical Summary

Problems solved by technology

In practical applications, due to detection and estimation errors and rapid environmental changes, the obtained information of a single robot is not completely symmetrical, and it is difficult for an inertial robot to reach the required speed immediately.
In this case, the reciprocal speed obstacle avoidance algorithm is prone to the phenomenon of untimely obstacle avoidance and redundant obstacle avoidance.

Method used

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  • Dynamic obstacle-avoiding method of omnidirectional mobile robot
  • Dynamic obstacle-avoiding method of omnidirectional mobile robot
  • Dynamic obstacle-avoiding method of omnidirectional mobile robot

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Embodiment 1

[0067] Before the dynamic obstacle avoidance method provided by the present invention is described, the reciprocal speed obstacle avoidance algorithm provided by the prior art is introduced first, and its specific technical scheme is as follows:

[0068] The reciprocal speed obstacle avoidance algorithm is based on the position information and relative speed between the robots to obtain the optimal obstacle avoidance speed set ORCA of the robot i τ , and then plan the new speed of the robot according to this set to ensure that the robot does not collide with other robots within a certain period of time. Consider two robots i and j, assuming their radii are r i with r j , the position is p i with p j , with velocity v i with v j ,Such as Figure 4 shown. Denote the speed obstacle caused by robot j to robot i as VO i|j τ , which represents the set of relative velocities that cause robots i and j to collide within time τ:

[0069] VO ...

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Abstract

The invention provides a dynamic obstacle-avoiding method. The dynamic obstacle-avoiding method is characterized in that aimed at defects of a reciprocal speed obstacle-avoiding algorithm, an obstacle-avoiding responsibility coefficient is set, risk factors are introduced according to different obstacles, phenomena of delayed obstacle avoidance and unnecessary obstacle avoidance caused in measuring errors in the reciprocal speed obstacle-avoiding algorithm are improved, and a planned obstacle-avoiding track is smoother. In an unknown environment without an external positioning system, a vehicle-mounted laser range finder is used for detecting obstacles and estimating moving speeds of the dynamic obstacles, and based on the provided obstacle-avoiding scheme, an omnidirectional mobile robot is enabled to avoid dynamic and static obstacles in the moving range.

Description

technical field [0001] The invention relates to the field of robots, and more specifically, to a dynamic obstacle avoidance method for an omnidirectional mobile robot. Background technique [0002] The robot can move in any direction, and can be widely used in military, industrial, household service and other fields. How to effectively avoid obstacles in an unknown environment is one of the key issues for the robot to realize its autonomous movement. The obstacle avoidance problem in an environment with moving obstacles is called dynamic obstacle avoidance. Unlike obstacle avoidance in traditional static environments, since the speed and position of obstacles may change in real time, dynamic obstacle avoidance in unknown environments contains more uncertain factors, which poses challenges to the real-time performance of dynamic obstacle avoidance algorithms and sensor accuracy. higher requirement. At present, most of the research on robot obstacle avoidance focuses on obs...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/024G05D1/0214
Inventor 成慧蒋海洋江泽宇
Owner SUN YAT SEN UNIV
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