Robot distributed cooperative obstacle avoidance method based on independent virtual center point

A virtual center point, robot technology, applied in the direction of instruments, two-dimensional position/channel control, non-electric variable control, etc., can solve the problem of the robot falling into the local minimum point and so on

Active Publication Date: 2019-04-09
FUZHOU UNIV
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However, this is a local optimization method. For relatively complex dynamic environments, un...

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  • Robot distributed cooperative obstacle avoidance method based on independent virtual center point
  • Robot distributed cooperative obstacle avoidance method based on independent virtual center point
  • Robot distributed cooperative obstacle avoidance method based on independent virtual center point

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Embodiment Construction

[0077] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0078] Please refer to figure 1 , the present invention provides a robot distributed collaborative obstacle avoidance method based on an independent virtual central point, comprising the following steps:

[0079] Step S1: Use the extended Kalman filter to fuse the IMU and odometer data to obtain the current pose information of several robots, where the current pose information of the i-th robot is (x i ,y i , θ i );

[0080] Step S2: Obtain the shared speed v and position information p between the robots through network communication, calculate the virtual center point p of the robot, and the virtual center point moves with the movement of the robot;

[0081] Step S3: According to the current position p of the robot i and its target point position p gi , the position p of its virtual center point, and the target vector v of the robot is obtained ...

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Abstract

The present invention relates to a robot distributed cooperative obstacle avoidance method based on an independent virtual central point. The method comprises the following steps: step 1: using an extended Kalman filter to fuse an inertial measurement unit with odometer data to obtain current pose information of the robot; step 2: through network communication, sharing the speed and position information between the robots, and calculating the virtual center point of each robot, wherein the virtual center point moves with the movement of the robot; step 3: according to the current position, thetarget point position and the virtual center point position of each robot, obtaining the target vector and the repulsion vector of the robot; step 4: defining a switching signal to determine whetherthe movement mode of the robot is an obstacle avoidance mode or an obstacle-free mode; and step 5: using the vector differential method to obtain the desired speed and the desired angle of the robot,and according to the control law, obtaining the real-time speed and the angular velocity of the robot to guide the movement of the robot. According to the obstacle avoidance method provided by the present invention, the robot rotates around the virtual center point and perpendicular to the direction of the repulsion vector; and the obstacle-free mode means that the robot always moves toward the target vector, so that the robot is guided to orderly avoid obstacles.

Description

technical field [0001] The invention relates to the field of autonomous navigation of industrial mobile robots, and relates to a decentralized collaborative obstacle avoidance method for robots based on an independent virtual center point. Background technique [0002] With the rapid development of the field of artificial intelligence, intelligent robots have played an increasingly important role in human production and life. Because of the unique functions possessed by intelligent robots, they have been endowed with many different applications and achieved relatively excellent results. For example: in the field of military security, monitor dangerous elements and maintain regional security; in the field of exploration, adapt to various environments, collect various environmental parameters, and reduce personnel losses; in the field of medical care, assist medical personnel to treat diseases. With the continuous development and innovation of robot technology, sometimes a si...

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0088G05D1/027G05D1/0272G05D1/0289
Inventor 张立伟林志彬王杰何炳蔚陈彦杰林立雄
Owner FUZHOU UNIV
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