Method and system for obstacle avoidance of unmanned device

Abstract

The invention discloses a method and system for obstacle avoidance of an unmanned device, related to the technical field of computers. A specific embodiment of the method for obstacle avoidance of theunmanned device comprises the following steps: determining the boundary of an obstacle according to the identified obstacle information; determining a left side angle and a right side angle based ona current position and a target position of the unmanned device, wherein the left side angle is an angle between a line connecting the current position and the target position and a line connecting the current position and the left side boundary of the obstacle, and the right side angle is an angle between the line connecting the current position and the target position and a line connecting the current position and the right side boundary of the obstacle; and determining an obstacle avoidance angle value according to the angle values of the left side angle and the right side angle through a fuzzy control method. The embodiment of the invention can meet the requirements of the system adaptability, robustness and real-time performance of the unmanned device when performing obstacle avoidance; moreover, the calculation consumption can be reduced, the hardware requirements can be reduced, and the efficient operation of the unmanned device is realized.

Description

technical field [0001] The invention relates to the field of computer technology, in particular to a method and system for unmanned equipment obstacle avoidance. Background technique [0002] The development of today's logistics technology has fully moved towards informatization and unmanned. Unmanned equipment technology has been widely used in warehouses, unmanned supermarkets, and building services. Obstacle avoidance is a necessary function of autonomous movement of unmanned equipment. In the prior art, the obstacle avoidance algorithm of unmanned equipment mainly includes two methods of global path planning and local motion planning. For the method of global path planning, it is necessary to build a map of the environment map in advance, and the unmanned equipment must make corresponding judgments on obstacles in advance when planning the path; while the method of local motion planning relies on sensors to dynamically navigate the unmanned equipment . [0003] In the ...

AI Technical Summary

Problems solved by technology

[0003] In the implementation process of the above-mentioned obstacle avoidance method for unmanned equipment, there are the following problems: the global path planning method cannot avoid obstacles in real time, and the method cannot respond to changing environments such as the sudden appearance of obstacles; the local path planning method includes artificial potential Field method, vector domain histogram method, dynamic window method, etc., these methods need to consume certain system resources for planning and calculation, and the gradient calculation involved will affect the robustness of the algorithm

Images