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Method and device for determining traveling strategy of mobile robot, and mobile robot

A technology for mobile robots and strategy determination, which can be applied to instruments, motor vehicles, transportation and packaging, etc. It can solve problems that affect machine walking strategies and map construction, and achieve the effect of improving accuracy

Pending Publication Date: 2020-01-21
XIAOGOU ELECTRIC INTERNET TECH BEIJING CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] In the prior art, after the idling and slipping of the mobile robot occurs, the position of the machine will deviate accordingly. At this time, there is a large error between the odometer data received by the machine and the actual movement displacement, which will greatly affect the walking of the machine itself. strategy and map building

Method used

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  • Method and device for determining traveling strategy of mobile robot, and mobile robot
  • Method and device for determining traveling strategy of mobile robot, and mobile robot
  • Method and device for determining traveling strategy of mobile robot, and mobile robot

Examples

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Effect test

Embodiment 1

[0042] see figure 1 As shown, a method for determining a driving strategy of a mobile robot provided in an embodiment of the present application includes steps S101 to S103.

[0043] In step S101, when the skid warning signal is received, the mobile robot is controlled to stop moving, and the real-time position and the driving route map of the mobile robot are saved when the mobile robot stops moving.

[0044] Wherein, the driving path map can be constructed based on chassis odometer data, structured light data, or lidar data of the mobile robot, which is not limited here.

[0045]When the mobile robot is running, the global planning path of its movement can be set in advance. During the movement of the mobile robot, based on the chassis odometer data, structured light data or lidar data of the mobile robot, it will generate a corresponding path from start to stop. A map of the driving route during the time period while exercising. In the case of slipping, the displacement o...

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Abstract

The invention discloses a method and a device for determining a traveling strategy of a mobile robot, a storage medium and the mobile robot. The method comprises the steps of: when a slip early warning signal is received, controlling the mobile robot to stop moving, and storing a real-time position and a driving path map when the mobile robot stops moving; determining a planning path that has beenexecuted by the mobile robot in a global planning path according to the real-time position and the driving path map when the mobile robot stops moving; and finally, determining the traveling strategyof the mobile robot according to the planning path that has been executed by the mobile robot in the global planning path and the real-time position when the mobile robot stops moving. By controllingthe slip mobile robot to stop moving, storing the position when the mobile robot stops moving, and determining the planning path that has been executed by the mobile robot in combination with the position thereof, the accuracy of the driving path map can be effectively improved, thereby being conducive to determining the correct traveling strategy by the robot.

Description

technical field [0001] The invention relates to the field of determining the driving strategy, and in particular to a method for determining the driving strategy of a mobile robot, a device for determining the driving strategy of the mobile robot, and a mobile robot. Background technique [0002] In the prior art, after the mobile robot idling and slipping occurs, because the position of the machine will shift accordingly, there will be a large error between the odometer data received by the machine and the actual movement displacement, which will greatly affect the walking of the machine itself Strategy and map building. Therefore, there is a need for a method that can perform related processing after the mobile robot skids and idling, and connect with the relevant planning before the machine skids, complete the original global planning path of the machine, so that the robot can continue to move forward and position normally. Contents of the invention [0003] The techni...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0257
Inventor 檀冲王磊
Owner XIAOGOU ELECTRIC INTERNET TECH BEIJING CO LTD
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