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A dynamic environment obstacle avoidance method, controller and robot

A dynamic environment and dynamic obstacle avoidance technology, applied in the direction of program control manipulator, non-electric variable control, control/adjustment system, etc., can solve the problems of robot collision, robot inability to escape, poor effect, etc., and achieve the effect of improving effectiveness

Active Publication Date: 2020-08-28
SHANDONG UNIV
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AI Technical Summary

Problems solved by technology

[0005] (1) When the robot has not reached the target point but the resultant force is zero, it will fall into a local minimum point and stop moving. And the robot cannot escape this situation;
[0006] (2) The traditional artificial potential field method is less effective in a dynamic environment, and the robot may collide with obstacles

Method used

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  • A dynamic environment obstacle avoidance method, controller and robot
  • A dynamic environment obstacle avoidance method, controller and robot
  • A dynamic environment obstacle avoidance method, controller and robot

Examples

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Embodiment Construction

[0035] It should be noted that the following detailed description is exemplary and intended to provide further explanation of the present disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs.

[0036] It should be noted that the terminology used herein is only for describing specific embodiments, and is not intended to limit the exemplary embodiments according to the present disclosure. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural, and it should also be understood that when the terms "comprising" and / or "comprising" are used in this specification, they mean There are features, steps, operations, means, components and / or combinations thereof.

[0037] The embodiment of the present disclosure proposes a dynamic environment obstacle avoidance method, which adopts the dyna...

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Abstract

The invention provides a dynamic environment obstacle avoidance method, a controller and a robot. The dynamic environment obstacle avoidance method comprises the steps of calculating a resultant forcesuffered by the robot at the current position, simulating next position points in multiple directions of the resultant force suffered by the robot at the current position based on a dynamic window method, determining the position point with the minimum resultant force from the next position points as a next movement position point of the robot, constructing a local map of the robot, controlling the robot to start dynamic obstacle avoidance if a dynamic obstacle enters the local map of the robot, or else, allowing the robot to move to the next position point till a target point is reached.

Description

technical field [0001] The disclosure belongs to the field of robot path planning, and in particular relates to a method for avoiding obstacles in a dynamic environment, a controller and a robot. Background technique [0002] The statements in this section merely provide background information related to the present disclosure and do not necessarily constitute prior art. [0003] In robot path planning, the artificial potential field method provides a simple and effective motion planning method for robot navigation. By establishing the force field of the target point and obstacles, the robot is guided to avoid obstacles and reach the target point. [0004] However, the inventors found that the traditional artificial potential field method has the following problems in practical application: [0005] (1) When the robot has not reached the target point but the resultant force is zero, it will fall into a local minimum point and stop moving. And the robot cannot escape this si...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCG01C21/20G05D1/021
Inventor 刘国良孙九博田国会
Owner SHANDONG UNIV
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