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A domestic service robot path programming method based on a walking trajectory

A technology for path planning and home service, applied in instruments, two-dimensional position/channel control, vehicle position/route/altitude control, etc., can solve the problem of sacrificing the flexibility of autonomous motion of robots, avoid expansion and improve navigation efficiency , improve the effect of real-time

Inactive Publication Date: 2017-05-31
BEIJING UNION UNIVERSITY
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Problems solved by technology

This method considers human motion behavior too much, sacrificing the flexibility of robot autonomous motion

Method used

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  • A domestic service robot path programming method based on a walking trajectory
  • A domestic service robot path programming method based on a walking trajectory
  • A domestic service robot path programming method based on a walking trajectory

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Embodiment Construction

[0043] Such as figure 1 As shown, the embodiment of the present invention provides a path planning method for a home service robot based on walking trajectory, including the following steps:

[0044] Step 1: Extract the key points of the trajectory using kernel density estimation

[0045] The target motion trajectory is a curve formed by connecting a series of directional data points extracted based on the positioning of the moving target, reflecting the historical law of the target motion. Before analyzing the trajectory of the target, we should first sort out what kind of movement path is called a trajectory. Considering that human activities in the family environment are highly purposeful and repetitive, human movements are usually driven by certain purposeful activities, such as eating, sleeping, and studying. Therefore, people's movement trajectories will show a certain degree of aggregation, which is generally distributed in an area or in a band. In order to accurately ...

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Abstract

Provided is a domestic service robot path programming method based on a walking trajectory. The invention discloses a service robot navigation method based on a human walking trajectory. Firstly, the method of describing the trajectory of pedestrian movement is discussed; a key point extraction and trajectory expression method based on kernel density estimation is proposed; the pedestrian movement trajectory classification is realized by the similarity measurement of the trajectory in space distance, motion direction and velocity; secondly, in order to avoid the expansion of a path search algorithm in the global space and improve the real-time performance of the algorithm, an improved RRT-Connect algorithm based on a trajectory gravitational function is proposed to realize the path search scheme which is oriented to the pedestrian walking trajectory; and finally, double-layer path programming based on a topology-grid environmental model is realized; and the navigation efficiency is raised on the basis of safety navigation.

Description

technical field [0001] The invention belongs to the field of robot navigation and positioning, and in particular relates to a path planning method for a home service robot based on walking tracks. [0002] technical background: [0003] Navigation is one of the basic functions of service robots, and it is also the basis for robots to complete service tasks. The traditional robot navigation method is generally realized based on optimization indicators such as the shortest time, the shortest path, or the lowest energy consumption, ignoring the requirements for service quality such as robot motion safety, stability, and human friendliness, and the planned motion path Usually segmented polylines. Service robots need to decelerate, stop, turn and accelerate frequently when performing path tracking, resulting in discontinuous movement of the robot, and poor stability and safety of the robot. Especially for the dynamic home environment, the traditional navigation method only consi...

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0223G05D1/0214
Inventor 袁家政刘宏哲张勇赵小燕
Owner BEIJING UNION UNIVERSITY
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