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Local path planning and tracking method suitable for vehicle type robot

A local path planning and local path technology, applied in vehicle position/route/height control, instruments, motor vehicles, etc., can solve the problem that the movement flexibility is not as good as that of the disc robot, and the local path planning and tracking of the disc robot cannot be directly Applicable to vehicle models, robots and other issues to achieve the effect of improving flexibility

Active Publication Date: 2020-07-17
中振同辂(江苏)机器人有限公司
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  • Application Information

AI Technical Summary

Problems solved by technology

For car-shaped robots, because of their less flexible movement than disc-shaped robots, the local path planning and tracking for disc-shaped robots cannot be directly applied to car-shaped robots, which requires a new set of local path planning and tracking for car-shaped robots. tracking method

Method used

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  • Local path planning and tracking method suitable for vehicle type robot
  • Local path planning and tracking method suitable for vehicle type robot
  • Local path planning and tracking method suitable for vehicle type robot

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Embodiment Construction

[0047] The technical solution of the present invention will be further described below in conjunction with the accompanying drawings.

[0048] The invention relates to the improvement of the local path planning and tracking method of the cleaning robot. The improved local path planning and tracking method can be well applied to the model robot to overcome the insufficient cleaning ability of the disc-shaped robot in a large scene. The problem of inefficiency.

[0049] Specifically, such as figure 1 As shown, this kind of local path planning and tracking method applicable to vehicle type robots disclosed by the present invention comprises the following steps:

[0050] (1) Select the reference path to be executed in the area to be cleaned, locate the model robot and sense the surrounding obstacles, and obtain the corresponding reference information.

[0051] In this embodiment, the reference path is the global coverage path of the area to be cleaned obtained according to the e...

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Abstract

The invention discloses a local path planning and tracking method suitable for a vehicle-type robot, and the method comprises the following steps: (1) selecting a to-be-executed reference path, positioning the vehicle-type robot, and sensing the surrounding obstacles of the vehicle-type robot, and obtaining the corresponding reference information; (2) selecting a local path in combination with reference information, and planning and connecting a starting point and an end point of the local path to obtain a safe path; (3) fitting the safety path to obtain a smooth final path; and (4) sequentially selecting tracking points along the final path, respectively calculating the steering angle of the vehicle type robot corresponding to each tracking point, and controlling the advancing direction of the vehicle type robot according to the corresponding steering angle to realize tracking of the final path. According to the local path planning and tracking method, vehicle body motion constraintsand obstacle constraints of the vehicle model robot are fully considered, and local planning and tracking are performed on the reference path so that the vehicle type robot is enabled to effectively avoid obstacles and track the safe path in the advancing process.

Description

technical field [0001] The invention relates to the field of automatic cleaning, in particular to a local path planning and tracking method suitable for vehicle-type robots. Background technique [0002] In the field of automated cleaning applications, indoor unmanned sweeping / washing machines have begun to be favored by many large-scale indoor scene sanitation demanders because of their high cleaning efficiency and highly automated operation methods. However, most of the current sweeping / washing robot products are oriented to miniaturized indoor scenes, and the end users are mainly families, so the selected robot models are mostly disc-shaped small robots. In fact, in larger venues, such as airports, high-speed rail stations, arenas, etc., this type of robot has the problems of low cleaning efficiency and insufficient cleaning ability. Therefore, for such scenarios, it is necessary to switch to a model with stronger cleaning capabilities. Robot, to overcome the deficiency ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0236G05D1/024G05D1/0257G05D1/0214G05D1/0221G05D1/0276
Inventor 王忠桂坡坡赵懿陆新民
Owner 中振同辂(江苏)机器人有限公司
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