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A Fuzzy Obstacle Avoidance Method for Four-wheeled Mobile Robot Based on Collision Risk Analysis

A mobile robot, collision risk technology, applied in the fields of instruments, motor vehicles, non-electric variable control, etc., can solve problems such as lack, and achieve the effect of improving comprehensiveness and precision, improving control performance, and high autonomous obstacle avoidance

Active Publication Date: 2022-05-27
NANYANG INST OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[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

Method used

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  • A Fuzzy Obstacle Avoidance Method for Four-wheeled Mobile Robot Based on Collision Risk Analysis
  • A Fuzzy Obstacle Avoidance Method for Four-wheeled Mobile Robot Based on Collision Risk Analysis
  • A Fuzzy Obstacle Avoidance Method for Four-wheeled Mobile Robot Based on Collision Risk Analysis

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Embodiment Construction

[0054] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0055] see figure 1 ~4, an 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 the elements: the distance between the four-wheeled mobile robot and the obstacle, the relative movement angle of the four-wheeled mobile robot and the obstacle, and the relative speed of the four-wheeled mobile robot ...

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Abstract

The invention discloses a fuzzy obstacle avoidance method for a four-wheel mobile robot based on collision risk analysis. The front wheel angle and rear wheel speed of the four-wheel mobile robot output by the fuzzy obstacle avoidance controller at the next moment; defuzzify the front wheel angle and rear wheel speed of the four-wheel mobile robot at the next moment, and introduce it into In the kinematics model of the four-wheel mobile robot, determine the left and right front wheel rotation angles and the left and right rear wheel speeds of the four-wheel mobile robot, and input them to the drive mechanism of the four-wheel mobile robot to control the four-wheel mobile robot to perform fuzzy Avoidance. The invention can reduce the number of rules and calculation cost of the fuzzy obstacle avoidance control algorithm, and at the same time improve the comprehensiveness and fineness of obstacle analysis in the whole obstacle avoidance decision-making process.

Description

technical field [0001] The invention relates to the technical field of artificial intelligence algorithms, and more particularly to a fuzzy obstacle avoidance method for a four-wheel 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 first choice for robot applications such as cargo handling robots, greenhouse mobile robots and pesticide spraying robots. It is of great significance for the future development of fields such as smart warehousing and smart agriculture. In order to play a better role in improving work efficiency, 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 robot's operating environment is unknown, the fuzzy logic method is widely used in the obstacle avoidance research of mobile robots because it does not n...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0221G05D1/0238G05D1/0255
Inventor 袁博徐国清
Owner NANYANG INST OF TECH