Collision risk analysis-based four-wheel mobile robot fuzzy obstacle avoidance method
A mobile robot, collision risk technology, applied in the direction of instruments, motor vehicles, non-electric variable control, etc., can solve problems such as lack, and achieve the effect of improving comprehensiveness and precision, high precision, and high autonomous obstacle avoidance
Active Publication Date: 2019-09-03
NANYANG INST OF TECH
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[0004] In summary, the main defect of the existing technology is the lack of an efficient fuzzy obstacle avoidance algorithm for front-wheel-guided, rear-wheel-driven four-wheel mobile robots in dense obstacle environments, which can better meet the requirements of low-rule and complex algorithms at the same time. Accuracy and computational cost, as well as two conditions of high obstacle avoidance decision-making and control performance
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[0054] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0055] see figure 1 ~4. The embodiment of the present invention provides a fuzzy obstacle avoidance method for a four-wheeled mobile robot based on collision risk analysis, the method comprising:
[0056] Step 1: Obtain elements: the distance between the four-wheel mobile robot and the obstacle, the relative motion angle between the four-wheel mobile robot and the obstacle, and the relative speed between the four-wheel mobile robot and the obstacle.
[0057] ...
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The invention discloses a collision risk analysis-based four-wheel mobile robot fuzzy obstacle avoidance method. The method comprises the following steps: determining the collision risk of the currentfour-wheel mobile robot on the front left and the front right through a multi-factor collision risk model; acquiring the front wheel rotating angle and the rear wheel rotating speed, output by a fuzzy obstacle avoidance controller, of the four-wheel mobile robot at the next moment according to a fuzzy control rule; and performing defuzzification processing on the front wheel rotating angle and the rear wheel rotating speed of the four-wheel mobile robot at the next moment, introducing the front wheel rotating angle and the rear wheel rotating speed which are subjected to the defuzzification processing of the four-wheel mobile robot at the next moment into a kinematic model of the four-wheel mobile robot, determining the left front wheel rotating angle, the right front wheel rotating angle, the left rear wheel rotating speed and the right rear wheel rotating speed of the four-wheel mobile robot, inputting the left front wheel rotating angle, the right front wheel rotating angle, the left rear wheel rotating speed and the right rear wheel rotating speed of the four-wheel mobile robot into a driving mechanism of the four-wheel mobile robot, and controlling the four-wheel mobile robotto perform fuzzy obstacle avoidance. According to the method, the rule number and the computing cost of a fuzzy obstacle avoidance control algorithm can be reduced, and meanwhile, the comprehensiveness and the detail level of obstacle analysis in an obstacle avoidance decision-making process are improved.
Description
technical field [0001] The invention relates to the technical field of artificial intelligence algorithms, and in particular to a fuzzy obstacle avoidance method for a four-wheeled mobile robot based on collision risk analysis. Background technique [0002] Front-wheel-Oriented&Rear-wheel-Driven FWMR (hereinafter referred to as FORD-FWMR) is the preferred solution for robot applications such as cargo handling robots, greenhouse mobile robots and pesticide spraying robots. It is of great significance to the future development of fields such as intelligent storage and intelligent agriculture. In order to play a better role in improving work efficiency and energy saving and emission reduction, the autonomous obstacle avoidance of FORD-FWMR has gradually become one of the research hotspots of scholars at home and abroad. [0003] When the operating environment of the robot is unknown, the fuzzy logic method is widely used in the research of obstacle avoidance of mobile robots b...
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IPC IPC(8): G05D1/02
CPCG05D1/0221G05D1/0238G05D1/0255
Inventor 袁博徐国清
Owner NANYANG INST OF TECH