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Bionic-tentacle-based robot autonomous navigation method

A technology for autonomous navigation and robotics, applied in the field of intelligent robots, which can solve problems such as the difficulty of practical application of bug algorithms

Active Publication Date: 2016-04-20
CHINA AEROSPACE TIMES ELECTRONICS CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This method is a practical improved bug algorithm, which comprehensively considers the influence of the physical size of the robot entity and the complexity of the actual environment, solves the switching timing of the two basic walking modes of the bug algorithm and the specific way to circumvent obstacles, and solves the bug Algorithms are difficult to apply to problems

Method used

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  • Bionic-tentacle-based robot autonomous navigation method

Examples

Experimental program
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Effect test

Embodiment 1

[0079] Figure 5 Schematic diagram of the autonomous navigation process of the robot around linear contour obstacles. The robot moves straight from the starting point S towards the target point (the alignment condition and yaw condition are judged by the bionic tentacles Hng to ensure that the current heading angle of the robot is always along the XT direction), to the meeting point H 1 The point encounters an obstacle (by the bionic tentacles Dng s detected) stops and starts to go around the edge of the obstacle. Thanks to the bionic tentacles Dng o The detected obstacle is on the left side, and the robot takes the behavior of avoiding turning right and turning left in an arc to walk around the edge of the obstacle (by the bionic tentacles Dng b Judging avoidance conditions, by bionic tentacles Dng s and Dng o Judging the encounter condition), passing the encounter point H 2 and H 3 , to the departure point L 1 It breaks away from the edge of the obstacle (detected by...

Embodiment 2

[0081] Figure 6 It is a schematic diagram of the autonomous navigation process of the robot around unconditional obstacles. As mentioned above, the robot completes the navigation process around unconditional obstacles by relying on the bionic tentacles to perceive the surrounding environment, real-time excitation triggers the corresponding walking behavior to complete the entire navigation process, and the final trajectory of the robot is S-H 1 -L-T. Due to the unconditional shape of the obstacle contour, the length of the arc segment of each arc circumnavigation is not necessarily equal. Therefore, the present invention circumvents the edge of the obstacle in a segmented arc, which can not only ignore the limitation of the outer dimension of the obstacle, but also easily get away from the edge of the obstacle, with a short moving path and good environmental adaptation.

Embodiment 3

[0083] Figure 7 It is a schematic diagram of the autonomous navigation process of the robot circumventing multiple obstacles. For the sake of simplicity, two obstacles with unconditional shapes are chosen as examples to illustrate. Starting from the starting point S, the robot goes straight to the target point three times and circumnavigates the edge of the obstacle twice, and finally reaches the target point T successfully. The trajectory is S-H 1 -H 2 -L 1 -H 3 -H 4 -H 5 -H 6 -L 2 -T. As the number of obstacles increases, the number of times the robot goes around the edge of the obstacle also increases. During the obstacle circumvention process, the bionic antennae Dng o Can accurately determine the position of the obstacle (the design has R o >R b To improve the accuracy of obstacle orientation detection), so as to ensure the global optimal motion path of robot navigation.

[0084] Compared with the prior art, the present invention has the following advantages...

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Abstract

A bionic-tentacle-based robot autonomous navigation method is disclosed, according to the autonomous navigation method, a ''bionic tentacle'' model is disclosed from the point of view of bionics for understanding of sensor information, the autonomous navigation method comprises four walking behavior manners and six behavior trigger conditions, the walking behavior manners comprise aligned steering, straight advancing, avoiding and turning and arc circumvent, the behavior trigger conditions comprise alignment condition, yawing condition, meeting condition, avoiding condition, breaking-away condition and end condition, a bionic tentacle is used for perception of unknown environment around for real-time stimulation and triggering of a corresponding walking behavior, the whole process is designed based on bionics, the bionic-tentacle-based robot autonomous navigation method is suitable for a determined-target-point autonomous navigation task for a robot in unknown environment, can ignore obstacle edge shape restrictions, and is well adaptable to complex obstacle situations.

Description

technical field [0001] The invention belongs to the field of intelligent robots, and in particular relates to a robot autonomous navigation method based on bionic tentacles. Background technique [0002] Bug algorithm is a well-known sensor-based navigation algorithm. It combines the characteristics of global planning and local planning. Its path planning introduces some global information based on the direct application of sensor information, but it is only a "macro" sense Theoretical algorithms are mostly used in theoretical simulations, and it is difficult to directly use them to guide practical applications. The bug algorithm assumes that the robot is a mass point without physical size, and requires the robot to have the ability to detect obstacles in all directions and to go around along the edge of obstacles, which is extremely difficult for actual robots. The core of the Bug algorithm lies in how to determine the timing of switching between the two basic walking mode...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/00G01C21/20G05D1/02
CPCG05D1/0257G05D1/0278G01C21/005G01C21/20
Inventor 江济良马祥森胡琦杨东伟余敏黄蜀玲
Owner CHINA AEROSPACE TIMES ELECTRONICS CORP
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