Real-time obstacle avoidance method for mowing robot based on improved artificial potential field method

A lawn mowing robot, artificial potential field method technology, applied in the direction of instruments, motor vehicles, two-dimensional position/channel control, etc., can solve the problems of unreachable targets, easy to generate oscillating robots, trapped in local minima, etc.

Active Publication Date: 2019-11-19
SOUTH CHINA AGRI UNIV
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Problems solved by technology

[0004] The present invention is based on the problems and deficiencies of the classic artificial potential field method and the improved artificial potential field method, and proposes a real-time obstacle avoidance method for the mowing robot based on the improved artificial potential field method, which not only solves the pr...

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  • Real-time obstacle avoidance method for mowing robot based on improved artificial potential field method
  • Real-time obstacle avoidance method for mowing robot based on improved artificial potential field method
  • Real-time obstacle avoidance method for mowing robot based on improved artificial potential field method

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Embodiment

[0060] In the artificial potential field method, the distance between the robot and the target point directly determines the gravitational potential field function or the magnitude of gravitational force. When the distance between the robot and the target point is large, the gravitational potential field function or gravitational force also becomes very large. In other words, the gravitational force plays a major role, and the repulsive force hardly plays a role in the robot motion control, which can easily lead to The robot collides with an obstacle. For this reason, dividing the gravitational potential field function into two continuous segments according to the actual environment can solve this problem well and reduce the distortion of the shape of the gravitational potential field; introducing an adjustment factor that considers the radius of the mowing robot improves the repulsive potential field function, When the robot is not near the target point, the shape of the dist...

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Abstract

The invention discloses an obstacle avoidance method for a mowing robot based on an improved artificial potential field method, which comprises the following steps: S1, the positions of a starting point and a target point of a mowing robot are set, a gravitation potential field gain coefficient and a repulsion potential field gain coefficient are set, and a surrounding environment model of a mowing robot is built; S2, a gravitation potential field function is improved; S3, a repulsion potential field function is improved; S5, the magnitudes and directions of the gravitation and each repulsionborne by the mowing robot are calculated, the components of the gravitation and the repulsions in the horizontal and vertical directions are calculated, and the magnitude and direction of the total potential field force borne by the mowing robot are calculated; and S6, the mowing robot moves to the target point under the action of the total potential field force of the improved artificial potential field method, and the coordinates of the mowing robot are updated to obtain a planned path of the mowing robot. According to the invention, the mowing robot can operate safely, stably and efficiently, and the practicability of the improved obstacle avoidance method is improved.

Description

technical field [0001] The invention belongs to the technical field of mowing robots, and in particular relates to a real-time obstacle avoidance method for a mowing robot based on an improved artificial potential field method. Background technique [0002] The artificial potential field method is one of the common robot local path planning methods at present. Its basic idea is to sense the position of the robot, obstacles, and target points in the environment through sensors. In the composite potential field generated by both the gravitational potential field and the repulsive potential field, the robot searches for the route of the total potential field drop as the optimal path for the robot to avoid collisions. This method has the advantages of simple structure, strong real-time performance, efficient and smooth planning path, and easy realization of bottom-level real-time control. It has been widely used in the path planning of robot obstacle avoidance systems. However,...

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0214G05D2201/0201
Inventor 李君李振伟陆华忠袁谋青谢逢博卢忠岳
Owner SOUTH CHINA AGRI UNIV
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