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Dynamic obstacle avoidance method and device and mobile robot

A mobile robot and dynamic obstacle avoidance technology, applied in the field of mobile robots, can solve the problems of poor obstacle avoidance effect and low path planning optimization rate, and achieve the effect of improving obstacle avoidance effect, optimizing path planning, and avoiding falling into dead zones

Pending Publication Date: 2022-07-19
GUANGZHOU COAYU ROBOT CO LTD
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  • Abstract
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Problems solved by technology

[0004] Based on this, it is necessary to provide a dynamic obstacle avoidance method, device, and move robot

Method used

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  • Dynamic obstacle avoidance method and device and mobile robot
  • Dynamic obstacle avoidance method and device and mobile robot
  • Dynamic obstacle avoidance method and device and mobile robot

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Embodiment Construction

[0053] In order to make those skilled in the art better understand the solutions of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present application.

[0054]It should be noted that the terms "first", "second" and the like in the description and claims of the present application and the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific sequence or sequence. It is to be understood that the data so used are interchangeable ...

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Abstract

The invention relates to a dynamic obstacle avoidance method and device and a mobile robot. The method comprises the following steps: acquiring environment point cloud information; according to the environment point cloud information, identifying an obstacle scene to obtain obstacle scene information; performing prediction processing on dynamic obstacle scene information in the obstacle scene information to obtain first obstacle map information, and updating the first obstacle map information to the environment point cloud information to obtain updated environment point cloud information; based on a VFH obstacle avoidance algorithm, processing the updated environment point cloud information to obtain current target direction information; according to the current target direction information, performing oscillation area marking on the current operation path to obtain information of each oscillation area; and according to the information of each oscillation area, carrying out oscillation area constraint on the current operation path to obtain optimized path information. According to the method, the path planning of the mobile robot can be optimized, and the obstacle avoidance effect on the dynamic obstacle is improved.

Description

technical field [0001] The present application relates to the technical field of mobile robots, and in particular, to a dynamic obstacle avoidance method, device and mobile robot. Background technique [0002] Mobile robot path planning refers to generating a collision-free path from the start point to the end point for the mobile robot. For indoor mobile robots, the path planning algorithm determines how intelligent the mobile robot is to run. According to the perception of the environment, mobile robot path planning algorithms are divided into global path planning algorithms with known environmental information and local obstacle avoidance algorithms in unknown or partially unknown environments. [0003] For the global path planning algorithm, since the environmental information is known, the global planning path can be obtained only by searching the environmental map, but when the environmental information changes, the global map needs to be updated and the planning proc...

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0236G05D1/024G05D1/0251G05D1/0257G05D1/0225G05D1/0221G05D1/0276
Inventor 吴庭明邓亮郑卓斌王立磊
Owner GUANGZHOU COAYU ROBOT CO LTD
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