Mobile robot obstacle avoidance method based on Kinect

A mobile robot and robot technology, applied in the field of mobile robots, can solve the problems of oscillation, local minimum point, obstacle avoidance failure, etc., and achieve the effects of strong adaptability, smooth path and good real-time performance.

Active Publication Date: 2016-06-08
SUN YAT SEN UNIV
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AI Technical Summary

Problems solved by technology

The main defect of the artificial potential field method is that problems such as local minimum points and oscillations are prone to occur in complex scenes or in some special scenes, resulting in failure of obstacle avoidance.

Method used

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  • Mobile robot obstacle avoidance method based on Kinect
  • Mobile robot obstacle avoidance method based on Kinect
  • Mobile robot obstacle avoidance method based on Kinect

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0042] The system structure diagram of the mobile robot in this scheme is as follows: figure 1 As shown, the robot is a trolley in this embodiment. When the robot is moving, it detects environmental information through the Kinect sensor, and transmits the data to the host computer through the USB interface. The host computer performs obstacle feature extraction, separation and identification of different obstacles through the acquired depth information, and determines the The corresponding obstacle avoidance strategy, combined with the improved artificial potential field method to calculate the moving speed of the car so that it can avoid obstacles, the host computer sends this speed to the embedded motion controller through serial communication, and the motion controller passes the motion actuator Control the movement of the car. In addition, a speed measurement module is also added to this solution. The speed measurement module collects the current speed information of the ...

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Abstract

The invention discloses a mobile robot obstacle avoidance method based on Kinect. In the indoor environment, environment information is obtained through a Kinect sensor, obstacle characteristics are recognized by processing depth information, different obstacles are separated out, the sizes of the obstacles can be estimated and the special obstacles are recognized; according to information of the obstacles, corresponding obstacle scenes are determined, so that corresponding obstacle avoidance strategies are determined, and on the basis of an artificial potential field method, the solution with the high adaptability, good real-time performance and smooth path is provided for real-time obstacle avoidance of an intelligent mobile robot in the unknown indoor environment. The environment information can be better mastered, so that the method is applicable to more indoor scenes, meanwhile, obstacle avoidance is performed on the basis of the artificial potential field method, and the defects existing in some artificial potential field methods are overcome through the environment information by means of advantages of the artificial potential field method.

Description

technical field [0001] The present invention relates to the technical field of mobile robots, and more particularly, relates to a method for avoiding obstacles of a mobile robot based on Kinect. Background technique [0002] Intelligent mobile robot technology is an important branch of robotics and a high-tech with broad application prospects. It is widely used in many fields such as industrial automation, military, agriculture, construction, medical treatment, and home furnishing. Among the many functions of smart cars, obstacle avoidance is the most basic and lowest-level function. Only when the robot can walk autonomously in the environment can other advanced functions be safely added to the system. In mobile robot obstacle avoidance, obstacle avoidance in indoor environment is one of the important topics. When a mobile robot walks indoors, it may encounter many obstacle scenarios, such as tables, chairs, doorways, walls, stairs, corridors, chandeliers, cabinets, etc. At...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0246G05D2201/0217
Inventor 成慧卢雯朱启源
Owner SUN YAT SEN UNIV
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