Robot walking obstacle avoidance method based on information fusion and environmental perception

Abstract

The invention discloses a robot walking obstacle avoidance method based on information fusion and environmental perception, which mainly solves the problem in the prior art that a robot is difficult to conduct obstacle-avoidance walking according to global information and environmental types. The robot walking obstacle avoidance method is implemented the steps of: 1, arranging various types of sensors at parts of a robot, and measuring distance information and inclination information; 2, judging a safety state of an environment where the robot locates and recognizing an environmental type by adopting an information fusion technology; 3, setting a fuzzy membership degree function according to the sensor and a distance measuring range; 4, calculating an obstacle avoidance direction and walking time according to multi-source distance information and the environmental type, and setting a walking speed; 6, and inputting the walking direction, time and speed into a robot power system, so as to conduct obstacle-avoidance walking. The robot walking obstacle avoidance method is based on the information fusion technology, performs fuzzy obstacle avoidance by combining with the specific environmental type, improves the flexibility and safety of the robot in obstacle-avoidance walking, and can be applied to the control of domestic robots.

Description

technical field [0001] The invention belongs to the technical field of robots, and particularly designs a method for robot walking and avoiding obstacles, which can be used for household robot control. Background technique [0002] With the advancement of science and technology, people's living standards have gradually improved. At the same time, the emergence of the concept of smart home has prompted the development of household robots to become more and more enthusiastic. Today, household robots are widely used in household services, entertainment, and cleaning. However, to achieve the above functions, it is inevitable that the robot must have the ability to autonomously walk and avoid obstacles during the movement process. Due to the limitations of the robot's receptor type and activity environment, existing robots usually walk based on known environmental maps or preset paths, or even walk randomly. These walking methods are not only inflexible, inefficient, and destr...

AI Technical Summary

Problems solved by technology

[0005] 1. During the walking process of the robot, the judgment result of each step only considers the current state, ignoring the historical walking state, resulting in discretization of the state;

[0006] 2. During the walking process of the robot, the error results of the previous step continue to affect the calculation and judgment of the subsequent steps, causing errors to accumulate and resulting in a decrease in the accuracy of obstacle avoidance

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