Humanoid football robot path planning method based on dynamic window method

A football robot and dynamic window technology, applied in the direction of instruments, non-electric variable control, two-dimensional position/channel control, etc., can solve problems such as difficulty in obtaining complete information, and achieve good results, fast processing speed, and high efficiency Effect

Inactive Publication Date: 2019-07-23
NANJING UNIV OF POSTS & TELECOMM
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AI Technical Summary

Problems solved by technology

In the actual environment, the robot can obtain rough map information, but due to the presence of moving objects, people or other variable factors, it is difficult

Method used

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  • Humanoid football robot path planning method based on dynamic window method
  • Humanoid football robot path planning method based on dynamic window method
  • Humanoid football robot path planning method based on dynamic window method

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Embodiment Construction

[0051] The technical solution of the present invention will be further described in detail below in conjunction with the accompanying drawings of the specification.

[0052] Path planning of a humanoid soccer robot based on a dynamic window method. The humanoid soccer robot is specifically a NAO robot. The path planning includes the following steps:

[0053] Step 1: Identify obstacles through the robot's own camera, and use the robot's monocular vision to locate and measure the distance to quickly obtain the distance and relative position between the robot and the obstacle.

[0054] In the step 1, the forward and lateral distance between the robot and the target and the deflection angle ω of the robot are calculated by the pitch angle and the viewing angle of the robot camera combined with the height of the robot, and a safe distance to prevent collision is set.

[0055] Specifically, such as figure 2 As shown, the angle between the main optical axis of the camera and the horizontal p...

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Abstract

The invention discloses a humanoid football robot path planning method based on a dynamic window method. The method comprises the steps that 1, a barrier is recognized through a camera of a robot, andthe distance and relative position between the robot and the barrier are quickly obtained by the adoption of monocular vision positioning and ranging of the robot; 2, a motion model of the robot is obtained through calculation; 3, multiple groups of velocity parameters are sampled, and velocity value limiting conditions are obtained considering hardware conditions of the robot itself; 4, a motiontrack of the robot is calculated through the motion model of the robot and the motion velocity of the robot; and 5, an evaluation function is set and used for evaluating multiple groups of sampled velocities and multiple segments of simulated running tracks in the running process of the robot, and the optimal track is selected. Through the method, the distance between the robot and the barrier can be quickly obtained; and by adopting the dynamic window method to derive the optimal track of barrier-avoiding motion of the robot, the processing speed is high, efficiency is high, and the track derivation effect is good.

Description

Technical field [0001] The invention relates to a path planning of a humanoid soccer robot based on a dynamic window method, belonging to the field of robot path planning. Background technique [0002] Autonomous navigation is one of the core technologies of mobile robots. In the actual environment, the robot can obtain approximate map information, but due to the presence of moving objects, people or other variable factors, it is difficult to obtain complete information. In practical applications, the local path planning method is the first choice for autonomous navigation of intelligent robots. the way. NAO robot is a multi-purpose humanoid robot, which is widely used in academic research fields with its outstanding appearance and advanced human-computer interaction system. Summary of the invention [0003] In view of the above-mentioned problems, the present invention proposes the following technical solutions: [0004] The path planning of the humanoid soccer robot based on th...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0238G05D1/0246G05D1/0223
Inventor 梁志伟吴海健
Owner NANJING UNIV OF POSTS & TELECOMM
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