Guiding robot dynamic obstacle avoidance method and guiding robot dynamic obstacle avoidance device based on change probability strategy
A dynamic obstacle avoidance and robot technology, applied in the field of robotics, can solve the problems of large shortest path gap, time-consuming, and low path quality.
Active Publication Date: 2019-08-13
XIAMEN UNIV
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Planning paths and avoiding obstacles is one of the important research contents. Compared with other algorithms, the rapid search random tree algorithm RRT has great advantages in search efficiency. In theory, a feasible path can always be found, but there are still Areas for improvement
Because the new nodes it expands are randomly generated in the moving area, the covered area is too average, and there is a certain time-consuming in the generated redundant points. Big
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[0023] The application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain related inventions, rather than to limit the invention. It should also be noted that, for ease of description, only parts related to the invention are shown in the drawings.
[0024] It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and embodiments.
[0025] Please refer to figure 1 , figure 1 It shows a schematic flow chart of the dynamic obstacle avoidance method for the tour robot based on the variable probability strategy provided by the embodiment of the present application.
[0026] Such as figure 1 As shown, the method includes:
[0...
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The invention provides a guiding robot dynamic obstacle avoidance method and a guiding robot dynamic obstacle avoidance device based on change probability strategy. The method comprises the followingsteps: step 1, performing map drawing through an outline drawing algorithm; step 2, acquiring a starting point coordinate value and a destination coordinate value of a robot; step 3, generating a pathP through a bidirectional rapid search random tree RRT; step 4, smoothening the path P; step 5, outputting a final path P, and continuously updating path information according to a real-time strategy, thereby enabling the robot to avoid obstacles according to the path P. With the method and the device provided by the invention, the search algorithm can quickly generate the path towards a target point under a spacious scene, and simultaneously, a problem that the path is in a local minimum value is avoided.
Description
technical field [0001] The present application relates to the field of robotics, in particular to a method and device for dynamic obstacle avoidance of a navigation robot based on a variable probability strategy. Background technique [0002] The application of robots has gradually penetrated into all walks of life in society, such as tour guides, nursing care, and smart homes. Planning paths and avoiding obstacles is one of the important research contents. Compared with other algorithms, the rapid search random tree algorithm RRT has great advantages in search efficiency. In theory, a feasible path can always be found, but there are still Areas for improvement. Because the new nodes it expands are randomly generated in the moving area, the covered area is too average, and there is a certain time-consuming in the generated redundant points. Big. Contents of the invention [0003] In view of the above defects or deficiencies in the prior art, a dynamic obstacle avoidance...
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IPC IPC(8): G01C21/20G06F17/18
CPCG01C21/20G06F17/18
Inventor 姚俊峰李新中
Owner XIAMEN UNIV