Indoor mobile robot human-machine integration navigation device and method

A mobile robot and navigation method technology, applied in the field of indoor mobile robot human-machine integrated navigation device, can solve problems such as randomness, inability to model pedestrian motion, and complexity of intention recognition, and achieve the effect of improving adaptability

Active Publication Date: 2019-09-27
SOUTHEAST UNIV
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Problems solved by technology

The classic models of pedestrian modeling include Proxemics and Social force models. The former is often used for comfort distance modeling but cannot model pedestrian motion. The latter establishes a kinematics model for pedestrians. Carry out motion modeling, but the disadvantage of this model is that it relies on all pedestrian information in the environment; many scholars model pedestrian intentions, such as pe

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  • Indoor mobile robot human-machine integration navigation device and method
  • Indoor mobile robot human-machine integration navigation device and method
  • Indoor mobile robot human-machine integration navigation device and method

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Embodiment Construction

[0044] The present invention provides a human-machine fusion navigation device for a mobile robot in an indoor environment, such as figure 2 . like figure 2 As shown in , the device is divided into four main parts: pedestrian modeling module, dynamic cost map, global path planner, robot and indoor vision sensor. Among them, the global path planner is the core part of the whole system, which is responsible for receiving the navigation target pose and AMCL positioning information, adopts the "planning-prediction-execution" timing cycle for dynamic planning, and constructs the search graph calculation based on the dynamic cost map in each planning cycle The best planning result for the current planning cycle.

[0045] The pedestrian modeling module converts the pedestrian perception information into the cost map required by the global path planner search map, uses laser sensors and multi-RGB-D sensors to perform global pedestrian perception, and realizes social cost construct...

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Abstract

The invention discloses an indoor mobile robot human-machine integration navigation device and method. The device comprises a pedestrian modeling module, a dynamic cost map, a global path planner, a robot and an indoor vision sensor. The pedestrian modeling module is used for converting the pedestrian perception information into a cost map required by the global path planner search map. The dynamic cost map provides the global path planner with the information of social constraints in the future. The global path planner is the core of the whole system and is responsible for receiving the navigation target pose and the AMCL positioning information, using the "planning-prediction-execution" time series period to carry out dynamic planning and building the search map based on the dynamic cost map to calculate the optimal planning result of the current planning period in each planning period. The robot and the indoor vision sensor are responsible for global environmental perception. In addition, the robot moving chassis receives the underlying motion commands for mobile navigation. The device and the method can be effectively and flexibly applied to the actual indoor environment.

Description

Technical field: [0001] The invention relates to a human-machine fusion navigation device and method for an indoor mobile robot, and belongs to the technical field of human-machine fusion navigation for indoor environments of mobile robots. Background technique: [0002] With the rapid development of mobile robots, mobile robots have been widely used in various service places. Among them, human-machine fusion navigation aims to improve social ability and follow social norms during robot navigation, which has attracted extensive research attention. Human-machine fusion navigation needs to meet comfort and social requirements. Comfort requires maintaining an appropriate distance and adopting an appropriate approach strategy. Social requirements require robots to follow social norms, such as setting to the right and avoiding passing through a group of people. [0003] 1. Path planning technology is the core technology of mobile robot operation. In a working environment with ob...

Claims

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Application Information

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IPC IPC(8): G01C21/20
CPCG01C21/206
Inventor 房芳史满翔钱堃马旭东
Owner SOUTHEAST UNIV
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