Mobile robot obstacle avoidance method based on pedestrian prediction

A mobile robot and robot technology, applied in the field of automation, can solve problems such as slowing down the obstacle avoidance time, and achieve the effect of improving the effect and avoiding falling into local optimum.

Pending Publication Date: 2022-04-08
SOUTHEAST UNIV
View PDF0 Cites 1 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

These algorithms still have a good effect when the obstacle is still, but they often fall into a local optimum when the obstacle is moving, thus slowing down the overall obstacle avoidance time.
The root cause of the above problems is that the above algorithm only considers the current positional relationship between the mobile robot and the obstacle at a certain moment, so the decision made during obstacle avoidance is only the current optimal solution, and there is still room for improvement from a global perspective. room for efficiency

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Mobile robot obstacle avoidance method based on pedestrian prediction
  • Mobile robot obstacle avoidance method based on pedestrian prediction
  • Mobile robot obstacle avoidance method based on pedestrian prediction

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0046] Embodiment 1 is used to verify the effect of the obstacle avoidance method proposed by the present invention in the long and narrow corridor, such as Figure 6 shown. In the embodiment, a pedestrian is set up in the long and narrow corridor and walks in the same direction as the robot. The initial speed of the robot is 0.7m / s, the speed of the pedestrian is 0.8m / s, the initial distance between the robot and the pedestrian is 1.9m, and the danger radius is 1.5m. The black curve uses the original DWA algorithm for obstacle avoidance. Since the pedestrian’s walking intention is not predicted, the original algorithm is relatively conservative when avoiding obstacles. The distance between the robot and the robot is relatively long during the walking process, which is about 3m after stabilization; while the optimized Since the algorithm judges that the pedestrian will continue to walk forward, the distance between the pedestrian and the pedestrian can be further shortened, a...

Embodiment 2

[0048] Embodiment 2 is used to verify the obstacle avoidance effect of the obstacle avoidance algorithm proposed by the present invention in the wide hall, such as Figure 7 shown. Five pedestrians are set up in the lobby, and their movement directions are marked with black arrows in the figure. Among them, pedestrians 1 and 4 slow down when encountering the robot, which means avoidance behavior occurs. The rest of the pedestrians will not actively avoid and walk normally. Depend on Figure 7 (b) It can be seen that the original DWA algorithm before optimization approached pedestrian 2 at P1 after avoiding pedestrians 1 and 4. Since the walking intention of the pedestrian was not predicted, the forward direction of the robot was not affected. Thus, in Figure 7 In (c), there is a conflict with pedestrian 3 at P2, and the pedestrian 3 is bypassed from above after decelerating to a stop. During the entire obstacle avoidance process, the number of executions of the evaluation ...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention discloses a mobile robot obstacle avoidance method based on pedestrian prediction, and the method refers to a thought that people can analyze the movement trend of moving obstacles when facing the moving obstacles, and then carry out the avoidance in advance. The moving robot is divided into a long and narrow corridor section and a wide hall section according to different scenes in the running process of the moving robot, when the robot encounters pedestrians in front, a social force model is used for predicting the walking track of the robot in the next period of time, an inactive avoiding mode is adopted in the long and narrow corridor section, and the speed of the robot is adjusted according to the predicted positions of the pedestrians; when the pedestrian is located in a hall section, an active avoidance strategy is adopted, a dynamic window method (DWA) is improved, and an evaluation item for predicting the direction of the pedestrian is newly added in an original evaluation function, so that the improved algorithm can avoid the position to which the pedestrian wants to walk in advance. According to the mobile robot obstacle avoidance method provided by the invention, the walking intention of the pedestrian is added to the obstacle avoidance decision of the robot, and the dynamic obstacle avoidance efficiency of the mobile robot is improved.

Description

technical field [0001] The invention belongs to the technical field of automation, and in particular relates to an obstacle avoidance method for a mobile robot based on pedestrian prediction. Background technique [0002] In recent years, with the continuous advancement of science and technology, the logistics construction of logistics has now entered the era of information construction from manual management. Under the background of increasing digitalization and artificial intelligence, it is the general trend to use mobile robots to replace manual transportation of materials. For example, in the current epidemic situation, countries do not advocate close contact between people, and the method of manually distributing medicines by medical staff will increase the risk of disease transmission. At present, foreign countries have begun to use medical delivery robots in batches, and my country's unmanned delivery of medical supplies is also developing continuously. [0003] Ob...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
Inventor 王东刘海清张为公郑疏桐
Owner SOUTHEAST UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap