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Omnidirectional mobile robot path planning algorithm based on pedestrian trajectory prediction

A technology of trajectory prediction and path planning, applied in two-dimensional position/channel control and other directions, which can solve the problems of inability to make motion prediction and single function.

Active Publication Date: 2018-01-30
清研华宇智能机器人(天津)有限责任公司
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  • Abstract
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  • Application Information

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Problems solved by technology

[0004] In view of this, the present invention aims to propose an omnidirectional mobile robot path planning algorithm based on pedestrian trajectory prediction to solve the situation that the current mobile robot has a single function and cannot make a motion prediction

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  • Omnidirectional mobile robot path planning algorithm based on pedestrian trajectory prediction
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  • Omnidirectional mobile robot path planning algorithm based on pedestrian trajectory prediction

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Embodiment Construction

[0064] It should be noted that, in the case of no conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other.

[0065] In describing the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", " The orientations or positional relationships indicated by "vertical", "horizontal", "top", "bottom", "inner" and "outer" are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and Simplified descriptions, rather than indicating or implying that the device or element referred to must have a particular orientation, be constructed and operate in a particular orientation, and thus should not be construed as limiting the invention. In addition, the terms "first", "second", etc. are used for descriptive purposes only, and should not be understood ...

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Abstract

The invention provides an omnidirectional mobile robot path planning algorithm based on pedestrian trajectory prediction. The omnidirectional mobile robot path planning algorithm comprises following steps: S1, carrying out kinematical modeling by means of a robot chassis and Mecanum wheels installed on the chassis; S2, carrying out path planning according to a current coordinate and a target location coordinate by the robot; S3, carrying out behavior trajectory prediction on pedestrians in the visual field through a laser radar module and calculating the scope where the pedestrians may exist within a certain time by the robot; and S4, carrying out pedestrian-eluding path planning according to the scope where the pedestrians may exist by the robot. By employing the omnidirectional mobile robot path planning algorithm based on pedestrian trajectory prediction, the robot can move more flexibly, the pedestrians in the environment are tracked in real time through the laser radar module, andlocations of the pedestrians at next moment are prejudged according to the pedestrian tracking result.

Description

technical field [0001] The invention belongs to the field of robot path planning, and in particular relates to an omnidirectional mobile robot path planning algorithm based on pedestrian track prediction. Background technique [0002] Robotics has made remarkable progress in just 60 years since the birth of traditional industrial robots. Today, robots are no longer limited to industrial applications. Its research focus and development direction tend to be more applied to daily life, such as catering, welcoming guests, entertainment, companionship, etc. Among many forms of mobile robots, omnidirectional wheeled mobile robots have attracted much attention due to their flexible kinematics performance. With the rapid development of modern sensing technology, computer technology and artificial intelligence technology, the path planning and obstacle avoidance technology of wheeled mobile robots have become the research hotspots of robotics. [0003] The path planning problem can...

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Application Information

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IPC IPC(8): G05D1/02
Inventor 刘召宋立滨于涛陈恳刘莉陈洪安
Owner 清研华宇智能机器人(天津)有限责任公司
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