Method for measuring moving speed of dynamic obstacle by mobile robot in unknown environment

Abstract

The invention relates to a method for measuring the moving speed of a dynamic obstacle by a mobile robot in an unknown environment. A computer and a mobile robot system controlled by a single-chip microcomputer are used. An ultrasonic generator of the mobile robot system emits multiple groups of pairwise continuous ultrasonic waves to the same obstacle in front at a certain frequency and speed; the time of the ultrasonic wave from emission to reception is obtained through two echo signals in each group, and a distance between an obstacle and the mobile robot and the moving speed and directionof the obstacle in the echo information time are calculated; pairwise information fusion calculation is carried out on the multiple groups of information; the moving speed and direction of the dynamicobstacle are accurately calculated; the mobile robot system transmits the obtained information and calculation data to a computer for data filtering, analysis and calculation; finally, a more accurate measurement result is obtained and fed back to the mobile robot system, so that the purpose of autonomous obstacle avoidance moving control is achieved. The method is high in calculation speed, accurate in result, low in system manufacturing cost and convenient to apply and popularize.

Description

technical field [0001] The invention relates to a method for measuring the moving speed of a dynamic obstacle in an unknown environment by a mobile robot, which realizes the autonomous obstacle avoidance movement of the mobile robot, and belongs to the technical field of mobile robots. Background technique [0002] Instead of human labor, the research and application of mobile robots in various fields has developed rapidly. Mobile robots are one aspect of the development of robotics. The research on the mobile robot's autonomous obstacle avoidance control can be divided into the path planning of the mobile robot in the known environment and the autonomous obstacle avoidance mobile control of the mobile robot in the unknown environment. There have been extensive theoretical researches on the algorithm for the path planning of mobile robots in a known environment. The main research method is to search for the best path from the starting point to the target point in the known o...

AI Technical Summary

Problems solved by technology

The present invention can effectively overcome the large error of the ultrasonic velocimetry method used in the prior art, and cannot effectively overcome the collision between the mobile robot and the obstacle; Defects such as high cost of radar test system

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