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

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 lawn mowing robots, in particular to a real-time obstacle avoidance method for lawn mowing robots based on an improved artificial potential field method. Background technique [0002] The artificial potential field method is one of the common local path planning methods for robots. Its basic idea is to sense the position of the robot, obstacles and target points in the environment through sensors. In the compound potential field generated by the gravitational potential field and the repulsive potential field, the robot searches for the route where the total potential field decreases as the optimal path for the robot to avoid collision. The method has the advantages of simple structure, strong real-time performance, efficient and smooth planning path, and easy realization of low-level real-time control. It has been widely used in the path planning of robot obstacle avoidance systems. However, there are st...

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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 problem that the robot cannot reach the target near the obstacle, Oscillation is easy to occur near obstacles and the robot is easy to fall into the local minimum problem, and the quality of the entire path planning is better, the operating efficiency of the robot is improved, and the improved algorithm is more practical and efficient.

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