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A robot, navigation method thereof, and computer-readable storage medium

A navigation method and robot technology, applied in the field of computer readable storage medium, robot and its navigation method, can solve problems such as difficulty, robot sensor influence path planning, large calculation amount, etc., achieve efficiency improvement, solve local navigation problems, run smooth effect

Active Publication Date: 2021-04-06
深圳中智卫安机器人技术有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, it is difficult to obtain an accurate local map. In addition, errors in robot sensors may seriously affect path planning. Furthermore, re-planning is relatively computationally intensive, and it is even more difficult when the local map is not clear.

Method used

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  • A robot, navigation method thereof, and computer-readable storage medium
  • A robot, navigation method thereof, and computer-readable storage medium
  • A robot, navigation method thereof, and computer-readable storage medium

Examples

Experimental program
Comparison scheme
Effect test

no. 1 example

[0039] Such as figure 1 As shown, the first embodiment of the present invention provides a robot navigation method, the method includes steps:

[0040] 31. Obtain the target position information of the robot and the two-dimensional point distribution of its current direction;

[0041] In this embodiment, the two-dimensional point distribution may be a radial distribution with multiple grids, and the number of grids is not limited here. For example Figure 5 The two-dimensional point distribution of is a radial distribution of 24 grids.

[0042] In this embodiment, the current two-dimensional point distribution of the robot is determined through the following steps (not shown in the drawings):

[0043] Obtain the current depth image of the robot;

[0044] Extracting a visual three-dimensional point cloud of the robot's current direction according to the acquired current depth image of the robot;

[0045] The extracted visual 3D point cloud is projected onto a plane to form...

no. 2 example

[0075] refer to Figure 4 , Figure 4 A robot is provided for the second embodiment of the present invention, the robot 40 includes: a memory 41, a processor 42 and a robot navigation program stored on the memory 41 and operable on the processor 42, the robot When the navigation program is executed by the processor 42, the steps of the robot navigation method described in the first embodiment are implemented.

[0076] by Figure 5 , Figure 6 For example:

[0077] Please refer to Figure 6 As shown, the star in the figure is the target position, the rectangular frame is the obstacle, the dotted line in the figure is the walking route of the robot before the implementation, and the solid line in the figure is the walking route of the robot after the implementation.

[0078] The realization process of the robot walking route (solid line):

[0079] Obtain the target position information of the robot and the two-dimensional point distribution of its current direction;

[00...

no. 3 example

[0089] The third embodiment of the present invention provides a computer-readable storage medium, where a robot navigation program is stored on the computer-readable storage medium, and when the robot navigation program is executed by a processor, the robot navigation as described in the first embodiment is realized method steps.

[0090] As an example, combining Figure 5 , Figure 6 Be explained:

[0091] Please refer to Figure 6 As shown, the star in the figure is the target position, the rectangular frame is the obstacle, the dotted line in the figure is the walking route of the robot before the implementation, and the solid line in the figure is the walking route of the robot after the implementation.

[0092] The realization process of the robot walking route (solid line):

[0093] Obtain the target position information of the robot and the two-dimensional point distribution of its current direction;

[0094] According to the obtained two-dimensional point distribu...

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Abstract

The invention discloses a robot, its navigation method, and a computer-readable storage medium. The method includes the steps of: acquiring the target position information of the robot and the two-dimensional point distribution of its current direction; distribution, determine the multidimensional eigenvalue s of the robot; according to the determined multidimensional eigenvalue s of the robot and the θ value obtained by the machine learning method, use the model a=f(s,θ) to calculate the control signal a of the robot; according to the calculated The control signal a of the robot realizes the navigation of the robot. The robot, its navigation method, and computer-readable storage medium disclosed in the present invention use the model a=f(s,θ) to calculate the control signal a of the robot by using the value of θ obtained by the machine learning method, and then realize the navigation of the robot; compared with the current State-of-the-art local navigation algorithms such as DWA (Dynamic Window Approach) and TEB (Timed Elastic Band) can effectively solve the problem of robot local navigation, and the method runs smoothly and has improved efficiency compared with existing algorithms.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a robot, a navigation method thereof, and a computer-readable storage medium. Background technique [0002] A robot is a kind of machine device that is used to accept human commands to complete corresponding actions, and can also automatically execute preset programs to complete corresponding tasks, and has programmable capabilities. Robots can increase production efficiency, improve product quality and improve the convenience of human life. [0003] In the process of realizing the present invention, the inventors found the following problems in the prior art: when the robot walks in a specified direction according to the navigation, some obstacles may be encountered during the walking process. In order to avoid obstacles, the robot usually needs to build a local map and re-plan the path. However, it is difficult to obtain an accurate local map. In addition, errors in robot sens...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 林川
Owner 深圳中智卫安机器人技术有限公司
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