Obstacle avoiding method based on dynamic window and virtual target points

A technology of virtual target and dynamic window, applied in the direction of motor vehicle, non-electric variable control, two-dimensional position/channel control, etc., can solve the problem of local vibration of the robot, without considering the kinematic characteristics of the robot, etc.

Active Publication Date: 2018-04-06
ZHEJIANG UNIV OF TECH
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Problems solved by technology

However, using the artificial potential field method is easy to cause the robot to generate local oscillations in areas with dense obstacles.
Farah Kamil et al. proposed an obstacle avoidance algorithm to enable the robot to work safely in an environment where the position, shape and motion state of obstacles are unknown (F.Kamil, T.S.Hong, W.Khaksa

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  • Obstacle avoiding method based on dynamic window and virtual target points
  • Obstacle avoiding method based on dynamic window and virtual target points
  • Obstacle avoiding method based on dynamic window and virtual target points

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Embodiment Construction

[0050] The technical solution of the present invention will be further described below in conjunction with the accompanying drawings.

[0051] A method for avoiding obstacles based on dynamic windows and virtual target points of the present invention, the specific process is as follows figure 1 shown, including the following steps:

[0052] The initial position of the robot is [2 1.8], the position of the target point is [5 5.5], the radius r of the robot r =0.3, the initial position of the obstacle [2 2.5], the obstacle moves towards the positive direction of the x-axis and the speed is 0.25m / s, such as Figure 5 shown.

[0053] Step 1: If figure 2 shown. defined at t = t i The coordinates of the robot at the moment are The angle between its advancing direction and the x-axis of the world coordinate system is θ(t i ), the information about obstacles fed back by the sensor of the robot is [α(t i )d(t i )]. record at t=t i The position of the robot at all times is ...

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Abstract

Provided is an obstacle avoiding method based on a dynamic window and virtual target points. A robot is guided by virtual target points to advance, and a motion instruction of the robot is issued through a dynamic window, and thus, the robot can avoid an obstacle to reach a target point. First, a robot predicts the motion track of an obstacle according to the angle and distance information of theobstacle fed back by a sensor on the robot; then, multiple virtual target points are generated according to the track prediction of the obstacle, the motion state of the robot and the position of a real target point, and an optimal virtual target is screened out by considering the direction of the robot and the distance between the virtual target points and the real target point through an evaluation function; and finally, the robot generates a control instruction set of the robot for the next moment through a dynamic window approach according to the track prediction of the obstacle and the positions of the virtual target points, and screens out an optimal control instruction of the robot for the next moment by considering the direction and motion speed of the robot and the distance between the robot and the target point through an evaluation function.

Description

technical field [0001] The invention relates to an obstacle avoidance method for a robot in a dynamic unknown environment. For the obstacles detected during the movement of the robot, the obstacle avoidance algorithm designed by the invention generates a virtual target point to guide the robot forward by predicting the trajectory of the obstacle. The window issues the movement instructions of the robot, so that the robot can avoid obstacles and reach the target point. Background technique [0002] With the development of robot technology, more and more mobile robots are used in production and life, such as medical service robots, home service robots, etc. To complete the task of transporting objects, mobile robots need to have functions such as sensing the environment, path planning, and motion control. In addition, mobile robots also need to deal with obstacles that appear during the movement, perceive and avoid them, and ensure that the robot can operate safely. [0003]...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0217G05D2201/0217
Inventor 禹鑫燚朱熠琛欧林林卢靓张铭杨
Owner ZHEJIANG UNIV OF TECH
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