Mobile robot following method and system

Abstract

The invention relates to a mobile robot following method, belongs to the technical field of artificial intelligence, and aims to solve the problems of non-cooperative target following, tedious following target determination and the like of an existing following method. The following method comprises the steps of: determining following target information according to a specific gesture of a person; collecting data through a laser radar, an inertial navigation unit and a GPS, constructing a map by utilizing SLAM software according to the data, and calculating the pose of a mobile robot in real time; acquiring following target information through a binocular vision module, and calculating a target pose in real time according to the following target information; and calculating a global optimal route according to the target pose and the pose of the mobile robot to automatically avoid static obstacles, and providing linear velocity and angular velocity instructions based on the global optimal route. The following target information is determined according to the specific gesture of the person, the tracking of the non-cooperative target is achieved, and the global optimal route is calculated, so that the static obstacles are automatically avoided.

Description

technical field [0001] The invention relates to the technical field of artificial intelligence, in particular to a mobile robot following method and system. Background technique [0002] According to different instructions, the existing mobile robot target following methods are divided into two categories: one is to adjust the movement of the mobile robot to follow the target according to the distance and angle deviation between the target and the robot; the other is to use the target position as the target point, According to the path planning algorithm, the trajectory of the robot from the current position to the target point is obtained, and then the target is followed by trajectory tracking. [0003] The first type of target following method uses binocular vision to obtain the distance and angle information of the target to follow, and then adjusts the movement of the mobile robot to follow the target. The disadvantage is that the following process cannot avoid obstacles...

AI Technical Summary

Problems solved by technology

[0005] In view of the above analysis, the embodiment of the present invention aims to provide a mobile robot following method and system to solve the problems of non-cooperative target following in the existing following methods, cumbersome determination of the following target, etc.

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