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A Safe Navigation Method for Ground Autonomous Mobile Robots Based on Formal Description

A formal description and autonomous movement technology, applied in navigation calculation tools, two-dimensional position/course control, instruments, etc., can solve problems such as hybrid systems and achieve complete safety effects

Active Publication Date: 2020-03-13
EAST CHINA NORMAL UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In the past research, researchers have proposed many navigation methods, such as artificial test field method, random path planning method, grid method, A * / D * methods, but these methods have not fully verified the safety properties of navigation systems from the perspective of hybrid systems

Method used

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  • A Safe Navigation Method for Ground Autonomous Mobile Robots Based on Formal Description
  • A Safe Navigation Method for Ground Autonomous Mobile Robots Based on Formal Description
  • A Safe Navigation Method for Ground Autonomous Mobile Robots Based on Formal Description

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Embodiment 1

[0040] A method for robot autonomous safe navigation based on formal description, comprising the following steps:

[0041] Step 1: Abstract modeling of the robot navigation system, and formalize the safety properties that it needs to meet; Step 2: Use formal language to describe the robot safety navigation algorithm;

[0042] Step 3: Establish the state transition model of the robot navigation system, and determine the safety property at any time through formal calculation

[0043] control input, and predict and update the motion state of the robot.

[0044] Further, the process of step 1 is as follows:

[0045] 1) The trajectory of the abstract robot is a segmented straight line, and the motion state model of the robot is:

[0046]

[0047] In the formula Indicates the position of the robot in the two-dimensional plane, with Respectively Components in the x, y direction;

[0048] In the formula Indicates the speed of the robot in the two-dimensional plane, v...

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Abstract

The invention provides a ground autonomous mobile robot safety navigation method based on formal description. An abstract model of an autonomous robot navigation system is established, a formal method is used to describe a robot safety navigation algorithm, safety constraints of the navigation system are analyzed, and the algorithm is solved and verified under the constraints. The system model is established on the basis of a robot omnidirectional movement platform, the provided autonomous navigation algorithm follows restrictions of passive friendly safety, and the formal method is used to resolve control input to be verified in the navigation system. The effective robot autonomous navigation algorithm is provided, and differential dynamic logics are used to solve safety control input of next moment according to the present operation state of the system. The method can be applied to the autonomous navigation system of the robot, and the completeness of a safety mechanism of the navigation system is ensured.

Description

technical field [0001] The invention relates to the field of combination of robot navigation and hybrid system formal verification, in particular to a method for robot autonomous safe navigation based on formal description. Background technique [0002] Robot Safety Navigation (Robot Safety Navigation) technology is used to detect the collision danger of the robot system in the dynamic unstructured environment, solve the path planning problem encountered by the robot in the autonomous movement, and realize the collision-free navigation of the robot in complex scenes. Robot safety navigation technology, as the key technology of autonomous mobile robot, is based on the control architecture of mobile robot. According to whether the number of controllable variables in the system is smaller than the dimension of its attitude space, it can be divided into holonomic system motion planning and nonholonomic system motion planning, and the system path planning based on kinematic const...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02G01C21/20
CPCG01C21/20G05D1/0214G05D1/0223
Inventor 张新宇张曼妮
Owner EAST CHINA NORMAL UNIV
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