Service robot local path planning method based on artificial emotion

A technology for local path planning and service robots, which is applied to instruments, vehicles, two-dimensional position/channel control, etc. It can solve the problem of less consideration of artificial emotions, achieve high friendliness, improve coping ability, and reduce the amount of calculation. Effect

Active Publication Date: 2022-03-11
HANGZHOU DIANZI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

As of now, artificial emotions are rarely considered

Method used

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  • Service robot local path planning method based on artificial emotion
  • Service robot local path planning method based on artificial emotion
  • Service robot local path planning method based on artificial emotion

Examples

Experimental program
Comparison scheme
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Embodiment Construction

[0051] Below in conjunction with accompanying drawing, the present invention will be further explained;

[0052] In this embodiment, a mobile robot and radar are used to build an experimental platform, run ros under the Ubuntu system, set local target points and global target points, and follow the figure 1 The flow shown starts to execute the navigation task.

[0053] Step 1. Map creation

[0054] Use lidar to scan the surrounding environment to build an activity map of the service robot. Set 50 sampling points equidistantly between the service robot and the global target point, and take the 10th sampling point in front of the service robot as the local target point when the service robot is moving towards the global target point. When the number of sampling points between the current position of the service robot and the global target point is less than 10, the global target point is used as the local target point.

[0055] Step 2. Obstacle detection

[0056] The activit...

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PUM

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Abstract

The invention discloses a service robot local path planning method based on artificial emotion. The method comprises the steps that a non-omnidirectional moving model is adopted, the displacement track of the robot in the next time period is calculated, then a sampling speed interval is calculated, and a prediction track is determined. Collected robot surrounding environment factors are subjected to quantitative modeling and mapped to four dimensions of intimacy, fear, pleasure and joy of artificial emotion. A reasonable fitness function fitness is designed, the quality of a PSO algorithm solution is evaluated, and when the fitness function value is minimum, the weight of an optimized artificial emotion function value is obtained. And the expected values of the plurality of prediction trajectories are calculated again, and the prediction trajectory with the highest expected value E (li) is selected by the decision layer and is used as the pose of the next frame. The communication mechanism sends control information to the controller, the controller executes the action selected by the robot at the decision-making layer, and finally the autonomous navigation process with artificial emotion as the core is achieved.

Description

technical field [0001] The invention belongs to the technical field of robot path planning, and in particular relates to a local path planning method for a service robot based on artificial emotion. Background technique [0002] In complex and uncertain environments, the evaluation indicators of mobile robot path planning are different, and one or several of the following indicators are usually used, such as: path length, running time, algorithm complexity, path safety, energy consumption, etc. Emotion plays an extremely critical role in the decision-making and path planning process of humans and other mammals, and robots with emotions can better interact with humans. [0003] In the field of emotional cognition in psychology, organisms often search the environment for cues they need and dangers they need to avoid, and then evaluate each stimulus for its own stake. The evaluation process generally includes: Is the event consistent with your own goals? Is it about your own ...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0223G05D1/0274G05D2201/0217
Inventor 翟鸿叶张波涛谢佳龙王坚吕强
Owner HANGZHOU DIANZI UNIV
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