A dynamic obstacle avoidance method for omnidirectional mobile robot

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

A Dynamic Obstacle Avoidance Method for an Omnidirectional Mobile Robot technical field The invention relates to the field of robots, and more specifically, to a dynamic obstacle avoidance method for an omnidirectional mobile robot. Background technique 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 ...

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.

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