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A method of indoor robot obstacle avoidance

An indoor robot and robot technology, applied in the direction of instruments, navigation, surveying and navigation, etc., can solve the problems of low accuracy and low efficiency, and achieve the effect of saving computing power

Active Publication Date: 2022-07-15
山东新一代信息产业技术研究院有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the current navigation decision-making part has problems of low efficiency and low accuracy. The existing obstacle data will not be updated and deleted in time. Only when there is no feasible path to the target position in the map with added obstacles , the decision-making layer will clear all the data, and then proceed to a new round of decision-making process

Method used

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Embodiment Construction

[0015] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0016] When an existing robot uses move_base to navigate, it first creates a cost map based on the created map. The cost map, as its name implies, divides the entire map into different cost values ​​according to the algorithm. The location of the obstacles is usually the highest, which is 100, which can be passed. The area is generally 1. When we use it, because the robot itself has a certain volume, and in order to prevent the robot f...

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Abstract

The invention provides an obstacle avoidance method for an indoor robot, which is mainly used for indoor robots. The method can effectively avoid the range of the area where the robot cannot pass through the moving obstacle due to the obstruction of the dynamic obstacle during the movement of the robot. It is not smart enough to choose a farther path. The algorithm is based on the move_base navigation framework of the ROS system, and focuses on optimizing the decision-making behavior of obstacle avoidance based on costmap. The invention improves the algorithm for updating the obstacle data, can deal with moving obstacles, and can no longer avoid pedestrians who have passed by in circles; when dealing with the updating of obstacles, it can effectively and timely remove the redundant obstacle data; Add or delete when the obstacle data is dynamically updated. If it does not affect the travel route during normal walking, it will not waste computing power to update the obstacle data, which can save computing power.

Description

technical field [0001] The invention relates to an indoor robot obstacle avoidance method, belonging to the technical field of automatic driving technology. Background technique [0002] The ROS community is a relatively mature and practical robot operating system in the field of robotics. It maintains the underlying hardware and upper-level software of the robot through rosmaster, and makes complex sensor driving, positioning functions, navigation decision-making and path planning functions, and underlying control all Packaged into an easy-to-maintain node based on rosmaster. However, the current navigation decision-making part has the problems of low efficiency and low accuracy. The existing obstacle data will not be updated and deleted in time, only when there is no feasible path to the target position in the map with added obstacles , the decision-making layer will clear all data, and then carry out a new round of decision-making process. SUMMARY OF THE INVENTION [...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/20
CPCG01C21/206
Inventor 任秋安高明
Owner 山东新一代信息产业技术研究院有限公司