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Control method for obstacle avoidance of intelligent moving body

A control method and technology of moving bodies, applied in the direction of non-electric variable control, two-dimensional position/channel control, control/regulation system, etc., can solve the problems of inability to effectively guarantee the safe driving of intelligent moving bodies, difficulty in detection, low precision, etc. question

Pending Publication Date: 2021-06-11
XIAMEN UNIV
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  • Abstract
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AI Technical Summary

Problems solved by technology

However, it is difficult to detect at the intersection of paths, and the accuracy is low, which cannot effectively ensure the safe driving of intelligent moving bodies.

Method used

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  • Control method for obstacle avoidance of intelligent moving body
  • Control method for obstacle avoidance of intelligent moving body
  • Control method for obstacle avoidance of intelligent moving body

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Embodiment Construction

[0067] The application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain related inventions, rather than to limit the invention. It should also be noted that, for the convenience of description, only the parts related to the related invention are shown in the drawings.

[0068] It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and embodiments.

[0069] figure 1 Shows the repelling range radius ρ and the emergency stop distance ρ of the intelligent moving body (r) to be controlled 0 , where Agent r Represents the intelligent moving body (r) to be controlled, Agent s Represents the intelligent moving body(s) within...

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Abstract

The invention relates to a control method for obstacle avoidance of an intelligent moving body. According to the method, the degree of crowdedness around the intelligent moving body (r) to be controlled is reflected through a virtual repulsion potential field at the t+1 moment and a virtual repulsion potential field at the t+2 moment, wherein the virtual repulsion potential field is generated by the intelligent moving body (s) within the repulsion range sensed by the intelligent moving body (r) to be controlled at the t moment; and the resultant force Fr(t) borne by the to-be-controlled intelligent moving body (r) is utilized to determine the direction of the acceleration ar(t+1), and the optimal next path point is determined, so that the to-be-controlled intelligent moving body (r) is prevented from colliding with an obstacle, and the driving efficiency of the to-be-controlled intelligent moving body (r) is improved.

Description

technical field [0001] The invention belongs to the technical field of motion control, and in particular relates to a control method for an intelligent moving body to avoid obstacles. Background technique [0002] Intelligent moving body refers to equipment that can autonomously perceive the surrounding environment and change the state of motion through actuators, such as automatic guided vehicles, unmanned aircraft, and unmanned underwater vehicles. The intelligent moving body often encounters many dynamic obstacles during driving, which requires the intelligent moving body to respond quickly and effectively to the dynamic obstacles. [0003] Nowadays, most of the obstacle avoidance methods on the market are realized by guidance technology, but various guidance methods have certain limitations. For example, electromagnetic induction guidance needs to lay cables underground, and the path cannot be changed in real time; Magnetic strip guidance only needs to lay magnetic stri...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0214G05D1/0242G05D1/0223
Inventor 张霄立陈锦文彭侠夫胡晓强徐东生
Owner XIAMEN UNIV
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