Navigation trail planning method of mobile robot based on distance-type fuzzy reasoning

A mobile robot and fuzzy reasoning technology, applied in navigation calculation tools, two-dimensional position/course control, instruments, etc., can solve problems such as slowing down

Active Publication Date: 2018-02-23
广东智爱机器人科技有限公司
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Problems solved by technology

For example, if the distance between the navigator and the navigated person is too large, the navigator should slow down the forward speed, and when the distance between the two is very short and the destination is still far away, the navigator can Speed ​​up the forward speed, but when there are obstacles in the front, the speed must be slowed down; in addition, when obstacles appear on the left or right, the direction of movement needs to be modified

Method used

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  • Navigation trail planning method of mobile robot based on distance-type fuzzy reasoning
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  • Navigation trail planning method of mobile robot based on distance-type fuzzy reasoning

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[0101] In order to make the technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below in conjunction with specific embodiments. Obviously, the described embodiments are part of the embodiments of the present invention, not all of them. example. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0102] Such as figure 1 As shown in the flow chart of the method, the robot navigation trajectory planning method based on distance type fuzzy reasoning includes the following key steps:

[0103] Step 1: When considering the distance between the robot and the navigated object, calculate the moving speed of the robot based on the fuzzy distance between the robot and the navigated object;

[0104] Step 2: When there is an obst...

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Abstract

The invention belongs to the technical filed of robot trial planning, in particular to a navigation trail planning method of a mobile robot based on distance-type fuzzy reasoning. According to the navigation trail planning method, a fuzzy reasoning rule is adopted, knowledge of navigation, movement toward a destination and obstacle avoidance of the mobile robot is formulated, linguistic variablesin the fuzzy reasoning rule are quantified through a fuzzy set membership function, and based on distance-type fuzzy reasoning, a walking speed target value and a rotation speed target value of a given path of the mobile robot are calculated in real time by adopting information which is detected by a sensor on the mobile robot, so that the mobile robot achieves highly intelligent behavior like human navigation.

Description

technical field [0001] The invention belongs to the technical field of robot trajectory planning, and in particular relates to a method for planning a navigation trajectory of a mobile robot based on distance type fuzzy reasoning. Background technique [0002] As we all know, most industrial robots work in an environment separated from humans, and high-speed and high-precision is the main subject of industrial robot research. In recent years, with the rapid development of declining birth rate and aging population, more and more attention has been paid to the research of life support robots, and the robot industry will gradually enter the era of human-machine coexistence. [0003] Regarding mobile robot navigation, first, as a pioneering research, a blind-guiding robot was developed, and it was confirmed through experiments that it can induce blind people to follow landmarks to reach their destinations. Later, robots with voice navigation and obstacle recognition were develo...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20G05D1/02
CPCG05D1/0219G05D1/0242G05D1/0255G01C21/20
Inventor 米泽硕玉王俊锋渕沟宣诚
Owner 广东智爱机器人科技有限公司
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