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Multi-robot cooperative movement and dynamic obstacle avoidance method, device, equipment and medium

A dynamic obstacle avoidance and multi-robot technology, applied in the direction of instruments, non-electric variable control, two-dimensional position/lane control, etc., can solve problems such as robot vibration, not considering the dynamic movement of surrounding objects, and planning paths falling into local optimum

Active Publication Date: 2022-03-04
浙江小远机器人有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] Common traditional dynamic obstacle avoidance methods, such as DWA and TEB local path planning algorithms, when applied to mobile robots, do not consider the dynamic movement of surrounding objects, and use the cost function method to find the optimal solution, which can easily cause the planned path to fall into a local Optimum, causing the robot to vibrate repeatedly

Method used

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  • Multi-robot cooperative movement and dynamic obstacle avoidance method, device, equipment and medium
  • Multi-robot cooperative movement and dynamic obstacle avoidance method, device, equipment and medium
  • Multi-robot cooperative movement and dynamic obstacle avoidance method, device, equipment and medium

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Embodiment 1

[0056]This embodiment provides a multi-robot cooperative movement and dynamic obstacle avoidance method. First, the environment where the robot body is located is 3D modeled in advance, and the intelligent bodies around the robot body (including other The real-time state of the robot and pedestrian) is sequentially input into the trained target convolutional neural network to output the real-time response action of the robot body, so that the robot body can perform real-time response actions and move safely and without collision until reaching the target point.

[0057] According to the above principles, the method of multi-robot cooperative movement and dynamic obstacle avoidance is introduced, such as figure 1 As shown, the multi-robot cooperative movement and dynamic obstacle avoidance method specifically includes the following steps:

[0058] Obtain the pose of the robot body, and calculate the real-time state of the robot body according to the pre-built 3D point cloud map...

Embodiment 2

[0137] This embodiment corresponds to the multi-robot cooperative movement and dynamic obstacle avoidance method of embodiment 1, and discloses a multi-robot cooperative movement and dynamic obstacle avoidance device, which is the virtual device structure of the above-mentioned embodiment 1, please refer to figure 2 shown, including:

[0138] The body state acquisition module 210 is used to obtain the robot body pose, and calculate the real-time state of the robot body in real time according to the pre-built three-dimensional point cloud map and the robot body pose;

[0139] The point cloud data processing module 220 is used to collect real-time point cloud data, preprocess the point cloud data, and detect some agents in the preprocessed point cloud data;

[0140] The agent state calculation module 230 is used to calculate the real-time states of the several agents respectively;

[0141] The response action generation module 240 is configured to sequentially input the real-t...

Embodiment 3

[0143] image 3 A schematic structural diagram of an electronic device provided in Embodiment 3 of the present invention, such as image 3 As shown, the electronic device includes a processor 310, a memory 320, an input device 330, and an output device 340; the number of processors 310 in the electronic device may be one or more, image 3 Take a processor 310 as an example; the processor 310, memory 320, input device 330 and output device 340 in the electronic device can be connected by bus or other methods, image 3 Take connection via bus as an example.

[0144] The memory 320, as a computer-readable storage medium, can be used to store software programs, computer-executable programs and modules, such as the program instructions / modules corresponding to the multi-robot cooperative movement and dynamic obstacle avoidance method in the embodiment of the present invention (for example, multiple Body state acquisition module 210, point cloud data processing module 220, agent s...

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Abstract

The invention discloses a multi-robot cooperative movement and dynamic obstacle avoidance method, relates to the technical field of robot control, and can solve the obstacle avoidance problem of multi-robots in a dynamic environment. The method comprises the following steps: obtaining the pose of the robot body, calculating the real-time state of the robot body in real time according to the pre-built three-dimensional point cloud map and the pose of the robot body; collecting real-time point cloud data, and predicting the point cloud data processing, detecting some intelligent bodies in the preprocessed point cloud data; calculating the real-time states of the several intelligent bodies respectively; inputting the real-time states of the several intelligent bodies into the pre-built target convolutional neural network, and executing the Describe the real-time response actions of the output of the target convolutional neural network. The invention also discloses a multi-robot cooperative movement and dynamic obstacle avoidance device, electronic equipment and computer storage medium.

Description

technical field [0001] The invention relates to the technical field of robot control, in particular to a multi-robot cooperative movement and dynamic obstacle avoidance method, device, equipment and medium. Background technique [0002] In recent years, benefiting from the development of deep learning and sensor perception technology and the continuous improvement of robot operating systems such as ROS, a large number of robot products have been able to enter the market. Among mobile robots, wheeled robots are more common. For wheeled robots, perfect dynamic path planning and obstacle avoidance methods are the prerequisites for their normal operation, but they are also the core problems in optimizing the performance of wheeled robots. [0003] Common traditional dynamic obstacle avoidance methods, such as DWA and TEB local path planning algorithms, when applied to mobile robots, do not consider the dynamic movement of surrounding objects, and use the cost function method to ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0088G05D1/0231G05D1/0257G05D1/0287
Inventor 嵇望丁大为江志勇
Owner 浙江小远机器人有限公司
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