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Distributed cooperative obstacle avoidance method for robots based on independent virtual center point

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

Active Publication Date: 2021-03-02
FUZHOU UNIV
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  • Application Information

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Problems solved by technology

However, this is a local optimization method. For relatively complex dynamic environments, unreasonable potential field equations can easily cause the robot to fall into a local minimum point.

Method used

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  • Distributed cooperative obstacle avoidance method for robots based on independent virtual center point
  • Distributed cooperative obstacle avoidance method for robots based on independent virtual center point
  • Distributed cooperative obstacle avoidance method for robots based on independent virtual center point

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Embodiment Construction

[0079] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0080] 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:

[0081] 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 );

[0082] Step S2: Obtain the shared speed v and position information p between the robots through network communication, and calculate the virtual center point of the robot The virtual center point moves with the movement of the robot;

[0083] Step S3: According to the current position p of the robot i and its target point position p gi , the position of its virtual center point Get the target vector v of the robot gi and repulsi...

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Abstract

The present invention relates to a robot distributed collaborative obstacle avoidance method based on an independent virtual center point, comprising the following steps: Step 1: Obtain the current position and posture information of the robot; Step 2: Calculate the virtual center point of each robot, the virtual center point Move with the movement of the robot; Step 3: Obtain the target vector and repulsion vector of the robot according to the current position of each robot, its target point position, and the position of its virtual center point; Step 4: Define a switching signal to judge the movement mode of the robot as Obstacle avoidance mode or obstacle-free mode; Step 5: Use the vector differential method to obtain the expected speed and expected angle of the robot, and obtain the real-time speed and angular velocity of the robot according to the control law, and guide the robot to move. The present invention adopts the rotation movement around the virtual center point and perpendicular to the repelling vector direction; the robot always moves towards the target vector, thereby guiding the robot to avoid obstacles in an orderly manner.

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...

Claims

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Application Information

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Patent Type & Authority Patents(China)
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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