Method and device for avoiding dynamic obstacles by robot

A robot motion, robot technology, applied in the field of robotics, can solve problems such as no solutions

Active Publication Date: 2018-06-29
北京理工华汇智能科技有限公司
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

[0004] Aiming at the problem of left-right oscillation and rotation when the robot has sufficient obstacle avo

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  • Method and device for avoiding dynamic obstacles by robot
  • Method and device for avoiding dynamic obstacles by robot
  • Method and device for avoiding dynamic obstacles by robot

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[0060] In order to enable those skilled in the art to better understand the solutions of the application, the technical solutions in the embodiments of the application will be clearly and completely described below in conjunction with the drawings in the embodiments of the application. Obviously, the described embodiments are only It is a part of the embodiments of this application, not all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative work should fall within the protection scope of this application.

[0061] It should be noted that the terms "first" and "second" in the description and claims of the application and the above-mentioned drawings are used to distinguish similar objects, and not necessarily used to describe a specific sequence or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances for the purposes of t...

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Abstract

The application discloses a method and device for avoiding dynamic obstacles by a robot. The method comprises the following steps: determining a first global path according to the travel destination of the robot and obstacles in the environment; periodically acquiring a local map of the robot in the moving direction; obtaining the positions of the dynamic obstacles when the dynamic obstacles aredetermined to exist according to the local map, wherein the dynamic obstacles are moving obstacles; determining whether the first global path is interfered with the dynamic obstacles or not accordingto the first global path and the positions of the dynamic obstacles; after the interference is determined, replanning a global path to obtain a new global path, and otherwise, moving according to thefirst global path. Compared with a method for detecting information in the local map in real time, and bypassing the moving obstacles, the monitoring method has the advantages that fewer resources areconsumed and the speed is higher at the same time because the generation frequency of the global path is relatively low.

Description

technical field [0001] The present application relates to the field of robot technology, in particular, to a method and device for a robot to avoid dynamic obstacles. Background technique [0002] The global path planning is based on the map given in advance, but the movement environment of the service robot is generally dynamic, and there may be obstacles that do not exist when drawing a static map to enter the environment. At this time, the obstacles in front of the robot are detected by laser radar, and local map. In the obstacle avoidance strategy for the obstacles added later (such as a person standing still in front of the robot), the original simple local obstacle avoidance strategy is easy to fall into a "dilemma", because the release speed principle of the local planner focuses on Speed ​​sampling, it will first calculate all the speeds that a robot can reach in a certain period of time, and then multiply the speed by dt to get the relative displacement of the robo...

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0214G05D1/024G05D1/0253G05D1/0257G05D1/0276
Inventor 张伟民梁震烁黄强张华
Owner 北京理工华汇智能科技有限公司
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