Group intelligent obstacle avoidance method based on local orientation
A swarm intelligence and obstacle avoidance technology, applied in two-dimensional position/channel control, non-electric variable control, instruments, etc., can solve the problems of less research on group obstacle avoidance and very little research on group obstacle avoidance algorithms.
Active Publication Date: 2021-07-30
SICHUAN UNIV
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[0003] To sum up, most of the existing research on obstacle avoidance algorithms for irregular, non-predictable obstacles and bounded environments revolves around these three aspects, and there are few studies on group obstacle avoidance. There are very few researches on group obstacle avoidance algorithms in complex environments
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[0054] The group obstacle avoidance control design based on "local directional limit cycle" is mainly divided into two parts. First, judge whether to implement the obstacle avoidance strategy. When the obstacle partially enters the detection radius of the individual, the individual performs collision prediction on the obstacle locally. When it is judged that it will not collide with the obstacle locally, no obstacle avoidance measures will be taken. When it is judged that it may collide with the obstacle locally When a collision occurs, the individual will implement obstacle avoidance measures to avoid obstacles; secondly, design an appropriate obstacle avoidance strategy to enable the individual to complete the avoidance of obstacles. The specific method is to use the closest detection point of the obstacle as the balance point, and select an appropriate distance as the limit circle radius according to the size of the individual and the threat of the obstacle. The individual ...
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The invention relates to the field of intelligent obstacle avoidance, and aims to provide a group intelligent obstacle avoidance method based on local orientation. The group intelligent obstacle avoidance method comprises the following steps of: step 1, when an obstacle appears in a detection radius of an individual, carrying out collision pre-judgment, and when a judgment result is that the individual collides with the obstacle, executing an obstacle avoidance measure in the step 2; step 2, taking the nearest detection point of the obstacle as a balance point, determining the radius of a limit cycle according to the size of the individual and the threat degree of the obstacle, enabling the individual to bypass different detection balance points in the moving process, and executing step 3; and step 3, during detour, restoring the position and the shape of the obstacle, and moving to the target point by detour the obstacle clockwise or anticlockwise.
Description
technical field [0001] The invention relates to the field of group obstacle avoidance, in particular to a group intelligent obstacle avoidance method based on local orientation. Background technique [0002] In recent years, the theory of swarm intelligence that imitates the behavior of biological groups in nature has gradually become a hot spot. Obstacle avoidance is the most basic group behavior. The existing algorithm of obstacle avoidance is mainly based on the virtual potential field. With the deepening of research, the traditional artificial potential field In particular, the irregularity, unpredictability of obstacles and the boundedness of the environment provide a new direction for algorithm research. [0003] To sum up, most of the existing research on obstacle avoidance algorithms for irregular, non-predictable obstacles and bounded environments revolves around these three aspects, and there are few studies on group obstacle avoidance. There is very little resear...
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IPC IPC(8): G05D1/02
CPCG05D1/0257G05D1/0214G05D1/0221G05D1/0276Y02T10/40
Inventor 蔚涛陈熙邓科罗懋康
Owner SICHUAN UNIV