Grading speed obstruction algorithm-based mobile robot obstacle-avoiding method

A mobile robot, speed obstacle technology, applied in the direction of instruments, non-electric variable control, two-dimensional position/channel control, etc. Obstacle trajectory and the situation when the algorithm has no solution, the effect of reducing the amount of calculation and saving the amount of calculation

Inactive Publication Date: 2019-12-20
HEBEI UNIV OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, there are still some problems in the GVO algorithm: 1. The evaluation process of the control is highly computationally complex, the amount of calculation is large, and the calculation time is too long, which cannot meet the real-time requirements; 2. The algorithm action is relatively conservative and all controls may not be feasible In this case, because the algorithm judges whether the control is feasible based solely on the distance of the nearest meeting point, and uses a sampling time step to reach the trajectory generated by the control in the case of uniform motion when using the predicted trajectory to calculate the nearest meeting point, the trajectory distribution is too concentrated. And did not give full play to the robot's motion performance

Method used

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  • Grading speed obstruction algorithm-based mobile robot obstacle-avoiding method
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  • Grading speed obstruction algorithm-based mobile robot obstacle-avoiding method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0063] The parameters involved in the simulation of Embodiment 1 are shown in Table 1 and Table 2.

[0064] Table 1 Robot physical constraints

[0065]

[0066] Table 2 Algorithm parameters

[0067]

[0068] figure 2 is a one-step reachable control set U dt The generated uniform trajectory and the multi-step reachable control set U 8dt The distribution of the generated variable speed trajectory is compared, figure 2 (a) is the case of ω figure 2 (b) is the case of ω=0, figure 2 (c) is the case of ω>0. One-step reachable control set U dt The radius of the fitting circle at the end point of the uniform velocity trajectory is 0.14-0.15m. Multi-step reachable control set U 8dt The speed-changing trajectory consists of 8 sampling times of variable-speed motion and uniform motion after reaching multi-step reachable control. The maximum acceleration is used to approach multi-step reachable control at each moment in the first 8 sampling times. The radius of the fitting ...

Embodiment 2

[0078] The parameters involved in the simulation of Embodiment 2 are shown in Table 1 and Table 2.

[0079] Table 4 Robot and obstacle state

[0080] Numbering x / (m) y / (m) θ / (deg) v / (m / s) ω / (rad / s) robot 1 -1.0 -1.0 45 1.0 0.0 robot 2 11.0 -0.5 180 0.8 0.0 robot 3 -2.0 6.0 0.0 0.7 0.0 obstacle 1 6.0 5.0 180 0.8 0.2 obstacle 2 10.0 10.0 -135 1.0 0.25

[0081] Figure 8 This is the simulation effect diagram of the robot obstacle avoidance when the robot and the obstacle coexist in the invention embodiment 2. In the figure, the robot reaches different target points respectively, the starting point is marked by a cross, and the end point is marked by a five-pointed star. The robot and the dynamic obstacle start to move with the initial state shown in Table 4. The target point of robot 1 is (8,9), the target point of robot 2 is (2,5), and the target point of robot 3 is (10,0). During the obstacle avoidance ...

Embodiment 3

[0085] The parameters involved in the simulation of Embodiment 3 are shown in Table 1 and Table 2.

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Abstract

The invention discloses a grading speed obstruction algorithm-based mobile robot obstacle-avoiding method. The grading speed obstruction algorithm-based mobile robot obstacle-avoiding method comprisesthe steps of acquiring obstacle state information, robot state information and robot target point information; generating a single-step reachable control set according to a current state of a robot,and generating a series of control; building a speed obstacle according to a grading speed obstacle algorithm, generating evaluation of control in the single-step reachable control set by a grading speed obstacle evaluation function; selecting optimal control; executing the optimal control to judge whether the robot is arrived at a target point or not; and ending if arrival is judged, otherwise starting again. A speed obstruction method and a generalized speed obstruction method are combined, grading collision detection is employed, the robot kinematics performance is considered, the obstacle-avoiding effect is not affected, and meanwhile, unnecessary calculation quantity is reduced; and compared with the generalized speed obstruction method, the grading speed obstruction algorithm-based mobile robot obstacle-avoiding method has the advantages of better real-time performance, the situation that the generalized speed obstruction method has no solution on obstacle-avoiding track and algorithm is improved, and the robot movement performance is more fully developed.

Description

technical field [0001] The invention relates to an obstacle avoidance algorithm for a mobile robot, in particular to an obstacle avoidance method for a mobile robot based on a graded speed obstacle algorithm. Background technique [0002] Motion planning that identifies collision-free paths in the presence of moving obstacles is crucial for robotic applications such as autonomous vehicles, drones, service robots, etc. But motion planning in dynamic environments is challenging, and even in simple geometric programming problems with moving obstacles with stochastic dynamics, existing planning algorithms cannot identify collision-free paths from start to finish. [0003] The velocity obstacle (Velocity Obstacle, VO) algorithm was first proposed by Fiorini and Shiller. It is an approximate expression of the velocity that causes the collision. First, the velocity set that causes the collision is constructed, and then the robot is guided to leave the set. Due to the infinite time...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0223G05D1/0214G05D1/0221G05D1/0276
Inventor 陈曦王熙李宁
Owner HEBEI UNIV OF TECH
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