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Home service robot intelligent navigation algorithm adapting to complex environment

A technology for robot intelligence and home service, applied in the field of intelligent navigation algorithms for home service robots, it can solve the problems of inability to pick up and deliver items, difficult to complete tasks, and focus on traversal and non-repetition, so as to improve reliability and reduce The number of iterations, the effect of speeding up the calculation

Inactive Publication Date: 2021-01-05
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

However, the current home service robot is still in its infancy, and some service robots like cleaning robots that have been applied cannot complete tasks such as picking up and delivering items. One of the main reasons is that the movement algorithm in the navigation system is mainly a traversal algorithm, which mainly focuses on traversal and Not repetitive, making it difficult to complete some of the more complex tasks

Method used

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  • Home service robot intelligent navigation algorithm adapting to complex environment
  • Home service robot intelligent navigation algorithm adapting to complex environment
  • Home service robot intelligent navigation algorithm adapting to complex environment

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Embodiment Construction

[0030] The present invention will be described in detail below with reference to the accompanying drawings and examples.

[0031] The invention provides an intelligent navigation algorithm for a home service robot adapting to complex environments. The equipment of the algorithm includes an RGBD camera, a lower computer, an upper computer, a motion control board, an encoder and a motor. Among them, the RGBD camera transmits the captured depth image and RGB image to the lower computer through the USB interface, and the lower computer realizes the construction of the robot working map and the real-time tracking of the robot position through the ORB-SLAM built in its system. After the upper computer sends the destination of the home service robot to the lower computer, the lower computer will implement path planning through the local path planning algorithm and the global path planning algorithm. Then the planning result is sent to the motion control board to realize the movement ...

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Abstract

The invention discloses a home service robot intelligent navigation algorithm adapting to a complex environment, which integrates information of multiple sensors, reconstructs the working environmentof a robot in real time, effectively enhances the robustness of a system and realizes all-time and all-weather navigation and positioning of the robot in a strange environment. According to the invention, an evaluation model is established, an optimal local path planning algorithm is selected, and the local path planning algorithm is optimized in combination with the height information, so that the problem that a robot cannot accurately judge whether an obstacle exists in a current advancing path or not due to the fact that the robot cannot sense the height information on a map is solved, andthe traditional ant colony algorithm is optimized., and the problem of path planning when the home service robot has a plurality of necessary working points is solved. Meanwhile, the algorithm has higher convergence speed, and the performance of the algorithm is obviously improved.

Description

technical field [0001] The invention belongs to the technical field of robot intelligent navigation and positioning, and in particular relates to an intelligent navigation algorithm for a home service robot adapting to complex environments. Background technique [0002] In recent years, with the advancement of society and the accelerated development of artificial intelligence technology, home service robots have been quickly recognized by people and entered thousands of families for their advantages of improving the quality of life, changing traditional education methods, and reducing the pressure of care for the elderly and the disabled. In the future, with the needs of consumption upgrades and an aging society, there will be greater room for development. However, the current home service robot is still in its infancy, and some service robots such as cleaning robots that have been applied cannot complete tasks such as picking up and delivering items. One of the main reasons...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0251G05D1/0223G05D1/0221G05D1/0276
Inventor 邓方朱佳琪吕毅轩石翔高峰陈杰
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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