A method and device for determining a moving trajectory for a mobile robot
A mobile robot and moving track technology, applied in the field of robotics, can solve the problems of time-consuming, complicated calculation and processing process, and the inability of the mobile robot to move quickly and timely, and achieve the goal of reducing time-consuming, simplifying the calculation and processing process, and moving quickly and timely Effect
Active Publication Date: 2020-04-28
AUBO BEIJING ROBOTICS TECH CO LTD
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Problems solved by technology
Therefore, when facing the current environment, the mobile robot detects whether a collision will occur in a large number of different moving trajectories in the current environment. Mobile robots cannot move quickly and in time
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[0063] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiment of the application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiment of the application. Obviously, the described embodiment is only It is a part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.
[0064] The inventor found through research that in the prior art, when the current environment requires the mobile robot to determine the trajectory, after the mobile robot obtains the information of the obstacles in the current environment, it can store the trajectory data containing many known trajectory data in advance. Concentrate on selecting known moving traj...
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The invention discloses a method for determining a movement track of a mobile robot. The method comprises the steps of calculating similarity between current scene information and historical scene information, selecting a known movement track which corresponds with a plurality of historical scenes that are most similar with the current scene as an initial movement track; and then testing whether a collision occurs according to the initial movement track in the current environment by the mobile robot, and determining a target movement track. Through the method provided by an embodiment of the invention, relative to a large number of prestored known movement tracks, the mobile robot only tests whether the collision occurs in the current environment on a small number of initial movement tracks, a computing processing process for the movement track is simplified and consumed time is shortened, thereby realizing quick and in-time movement of the mobile robot. Furthermore the invention discloses a device for determining the movement track for the mobile robot.
Description
technical field [0001] The invention relates to the technical field of robots, in particular to a method and a device for determining a moving track for a mobile robot. Background technique [0002] With the development of robot intelligence, some mobile robots that can walk autonomously have appeared at present. There are usually some obstacles that need to be avoided in the surrounding environment of the mobile robot, and the distribution of obstacles is different in different environments. For this reason, the mobile robot can first determine the movement trajectory that can avoid all obstacles in the current environment, and then walk and move according to the determined movement trajectory. In the prior art, a mobile robot pre-stores a trajectory dataset, which includes many known moving trajectories. When the mobile robot needs to determine the movement trajectory for the current environment, the mobile robot can sequentially select the known movement trajectory in t...
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IPC IPC(8): G05D1/02
CPCG05D1/0219G05D1/0221
Inventor 黄真严羽
Owner AUBO BEIJING ROBOTICS TECH CO LTD