Robot following method and device, electronic equipment and storage medium

Abstract

The invention discloses a robot following method and device, electronic equipment and a storage medium. The method comprises the following steps: acquiring motion following information when a robot moves along with a target object in real time; the motion following information is used for describing the position of the target object in a robot coordinate system, the relative motion relation between the robot and surrounding obstacles, whether obstacles exist around the robot or not and the motion state of the robot, and the motion following information is input into a preset speed control model to be output to obtain a speed control signal for the robot; the speed control model is obtained through reinforcement learning training according to a preset reward function, can control the robot to continue to follow the target object to move according to the speed control signal, enables the robot and the target object to be kept within a preset distance range, and prevents the robot from colliding with surrounding obstacles. The problem that the following process is easily influenced by interferents in the environment, so that a wrong target is easily followed or a target is easily lost is solved, and the following stability is improved.

Description

technical field [0001] The present invention relates to the technical field of robot control, and in particular, to a robot following method, device, electronic device and storage medium. Background technique [0002] With the continuous emergence of various robots, such as logistics robots, patrol robots, etc., robots are usually required to follow to perform tasks. [0003] Robots usually follow in a relatively complex environment, and the operating environment contains complex factors such as static and dynamic obstacles, as well as targets and non-targets. The current solution mainly uses lidar data as input or visual information for navigation and avoidance. The following process is easily affected by the interference in the environment, so it is easy to follow the wrong target or lose the target, which reduces the following stability. SUMMARY OF THE INVENTION [0004] The invention provides a robot following method, device, electronic equipment and storage medium, s...

AI Technical Summary

Problems solved by technology

[0003] Robots usually follow in a more complex environment, and the operating environment contains complex factors such as static and dynamic obstacles, targets and non-targets, and the current scheme mainly uses laser radar data as input or visual information for navigation and avoidance. Obstacles, the following process is easily affected by disturbances in the environment, so it is easy to follow the wrong target or lose the target, which reduces the tracking stability

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