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An automatic parameter selection method for robot obstacle avoidance

A technology of parameter selection and robotics, applied in the direction of instruments, non-electric variable control, two-dimensional position/channel control, etc., can solve problems such as danger, inability to fix, operator and robot influence, and achieve the effect of avoiding collisions

Active Publication Date: 2021-09-17
CAPITAL NORMAL UNIVERSITY
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The wrong judgment of the robot may lead to a series of dangerous behaviors, which will affect the operator and the robot itself
In addition, some special parameters of the program may not be fixed during the development stage, and need to be changed in the real environment as the environment changes, or updated in real time based on the experience of engineers

Method used

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  • An automatic parameter selection method for robot obstacle avoidance
  • An automatic parameter selection method for robot obstacle avoidance
  • An automatic parameter selection method for robot obstacle avoidance

Examples

Experimental program
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Effect test

Embodiment

[0045] (1) Establishment and execution of runtime verification model

[0046] Establish a runtime verification model according to the syntax of JavaMOP (the screenshot of the JavaMOP syntax of the model is as follows image 3 Shown), including several parts such as variable declaration, definition event, description attribute and custom user program. Finally, a monitor is generated for real-time monitoring, and the model is generated as a monitor according to the steps of the JavaMOP tool to generate a monitor to realize online real-time monitoring.

[0047] Specific steps are as follows:

[0048] 1. Use the DOS command to enter the folder where the mop file is located

[0049] 2.javamop–d rvm-keepRVFiles*.mop This step generates .aj files and .rvm files

[0050] 3.rv-monitor rvm / *.rvm uses the rv-monitor command to generate a monitoring library

[0051] 4.javac rvm / monitor.java

[0052] rm classes / mop / moniotr.java compiles the monitor library file and removes the java fi...

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Abstract

The present invention relates to an automatic parameter selection method for robot obstacle avoidance: Step 1. Establishment and execution of a runtime verification model: establish a runtime verification model according to JavaMOP grammar, including variable declaration, event definition, description attribute and user-defined Several parts of the program; finally generate monitor real-time monitoring, realize online real-time monitoring; step two, automatic parameter selection. (1) the monitor's event logger recognizes the definition of an event from the specification and records possible entries for all events in the program's control flow; (2) the monitor's filter matches defined events but blocks all others; (3 ) will capture the event's parameters to be modified, and the new parameters can be returned to the source of the eventual continuation. The invention can update parameters off-line and in real time through the automatic parameter selection method, and plays an important role in restraining the behavior of the mobile robot in an uncertain environment.

Description

technical field [0001] The invention relates to an automatic parameter selection method for robot obstacle avoidance, belonging to the technical field of robot safety. Background technique [0002] Robots replace humans to complete heavy and dangerous work in production and life, effectively reducing human labor intensity. As mobile robots such as industrial robots, firefighting robots, tour guides, service robots, and entertainment robots are more and more widely used, people pay more and more attention to their safety. Avoiding collisions is one of the most important points. [0003] There are many approaches to the obstacle avoidance problem. When obstacles are stationary, or the robot's motion path in a dynamic environment can be known or evaluated in advance to design obstacle avoidance methods. But in fact, the environment in which the robot works is uncertain, in other words, the number, position and motion path of dynamic obstacles are all unknown. In this case, ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06F8/20G05D1/02
CPCG05D1/021G06F8/24
Inventor 王瑞罗晨霞关永杨康李晓娟施智平邵振洲
Owner CAPITAL NORMAL UNIVERSITY