A control method for intelligent sports body obstacle avoidance

Abstract

The application relates to a control method for intelligent moving body obstacle avoidance, which reflects the crowded degree around the intelligent moving body (r) to be controlled by generating a virtual repulsion potential field at a t+1 time and a virtual repulsion potential field at a t+2 time of a repulsion potential field of the intelligent moving body (s) in a repulsion range perceived by the intelligent moving body (r) to be controlled at a t time. r (t) determining the direction of the acceleration size ||a r (t+1) to determine the optimal next path point to avoid collision between the intelligent moving body (r) to be controlled and an obstacle and improve the driving efficiency of the intelligent moving body.

Description

Technical Field

[0001] This invention belongs to the field of motion control technology, specifically relating to a control method for obstacle avoidance in intelligent moving bodies. Background Technology

[0002] Intelligent moving bodies refer to devices that can autonomously sense their surroundings and change their motion state through actuators, such as automated guided vehicles, unmanned aerial vehicles, and unmanned underwater vehicles. Intelligent moving bodies frequently encounter dynamic obstacles during their operation, requiring them to react quickly and effectively to these obstacles.

[0003] Currently, most obstacle avoidance methods on the market are achieved through guidance technology. However, each guidance method has certain limitations. For example, electromagnetic induction guidance requires laying cables underground and cannot change the path in real time; magnetic strip guidance only requires magnetic strips to be laid on the ground and can change the path by changing the position of the magnetic strips, which is highly flexible. However, both of these methods require the system to predetermine the driving path and cannot adjust automatically; laser guidance can achieve flexible path planning without other ground facilities, but it is expensive.

[0004] When intelligent moving objects travel along a designated route, they are prone to collisions at path intersections with other intelligent moving objects traveling in different directions, affecting their driving safety. Existing technologies typically prevent collisions by installing detection sensors (infrared sensors) on the intelligent moving objects. However, detecting these intersections is difficult and has low accuracy, failing to effectively guarantee the safe driving of the intelligent moving objects. Summary of the Invention

[0005] The purpose of this application is to propose a control method for obstacle avoidance of intelligent moving bodies, which utilizes the total repulsive potential field to reflect the degree of crowding around the intelligent moving body (r) and the resultant force F acting on the intelligent moving body (r) to be controlled. r (t) Determine the acceleration a r The direction of (t+1) solves the problems existing in the background technology mentioned above.

[0006] This application provides a control method for obstacle avoidance in intelligent moving bodies, the specific steps of which include:

[0007] S1: Detect the motion state C of the intelligent moving body (r) to be controlled at time t. r (t) and the number S and motion state C of intelligent moving bodies (s) within a repulsion range centered on the intelligent moving body (r) with radius ρ. s (t), motion state C r (t) includes the position p of the intelligent moving body (r) to be controlled.r (t), velocity v r (t) and acceleration a r (t), the motion state C s (t) includes the position p of the intelligent moving body (s) within the repulsion range. s (t), velocity v s (t) and acceleration a s (t), where s is a natural number greater than or equal to 0;

[0008] S2: Based on the position p obtained in step S1 r (t), position p s (t), velocity v r (t), velocity v s (t), acceleration a r (t) and acceleration a s (t) Obtain the relative position of the intelligent moving body (s) within the repulsion range at time t relative to the intelligent moving body (r) to be controlled. relative speed and relative acceleration Furthermore, based on the laws of motion, the relative positions of the intelligent moving body (s) within the repulsion range at times t+1 and t+2 relative to the intelligent moving body (r) to be controlled are obtained. and relative position

[0009] S3: Based on the repulsive potential field in the artificial potential field method, obtain the repulsive potential fields from the intelligent moving body (s) within the repulsion range that the intelligent moving body (r) to be controlled experiences at times t, t+1, and t+2, respectively. and And the repulsive potential field U during emergency stop stop The total repulsive potential field of all intelligent moving bodies (s) within the repulsion range applied to the controlled intelligent moving body (r).

[0010] S4: The velocity v obtained from step S2 r (t) and acceleration a r (t) Obtain the velocity v of the intelligent moving body (r) to be controlled at time t+1. r (t+1); based on the position p obtained in step S2 r (t) and velocity v r (t) Obtain the position p of the intelligent moving body (r) to be controlled at time t+1. r (t+1); based on the total repulsive potential field obtained in step S3 and the repulsive potential field U during the emergency stop stopObtain the magnitude of the acceleration ||a| of the intelligent moving body (r) to be controlled at time t+1. r (t+1)||.

[0011] In some embodiments, the method further includes obtaining the resultant force F acting on the intelligent moving body (r) to be controlled. r (t), through the resultant force F r Unit vector in the direction of (t) The magnitude of acceleration obtained in step S4 ||a r (t+1)|| is combined into an acceleration vector a r (t+1). This method is used to determine the direction of motion of the intelligent moving body (r) to be controlled at time t+1, plan a suitable path, and avoid collisions with intelligent moving bodies (s) within the exclusion range.

[0012] In some embodiments, the resultant force F acting on the intelligent moving body (r) to be controlled is... r The specific method for obtaining (t) is as follows:

[0013]

[0014] in, S is the repulsive potential field from the intelligent moving body (s) within the repulsion range that the intelligent moving body (r) to be controlled is subjected to; S is the number of intelligent moving bodies (s) within the repulsion range.

[0015] The acceleration a of the intelligent moving body (r) to be controlled at time t+1 r (t+1), velocity v r (t+1) and position p r The specific method for obtaining (t+1) is as follows:

[0016]

[0017] v r (t+1)=v r (t)+a r (t)·Δt(4)

[0018] p r (t+1)=p r (t)+v r (t)·Δt(5)

[0019] in, The resultant force F r The unit vector in the direction of (t).

[0020] Based on the repulsive potential field exerted on the controlled intelligent moving body (r) at time t by the intelligent moving body (s) within the repulsion range. Further obtain the net force F acting on the intelligent moving body (r) to be controlled. r (t), to determine the magnitude of acceleration ||a| at time t+1. r The direction of (t+1)||. Simultaneously, the velocity v of the intelligent moving body (r) to be controlled at time t+1 is obtained. r (t+1) and position p r (t+1) is used to determine the optimal next motion path point for the controlled moving body (r) and reduce the detour distance.

[0021] In some embodiments, the relative position in step S2 and relative position The specific method to obtain it is as follows:

[0022]

[0023] in, Let t+1 be the velocity of the intelligent moving body (s) within the repulsion range relative to the intelligent moving body (r) to be controlled.

[0024] The position of the intelligent moving body (s) within the exclusion range at time t relative to the intelligent moving body (r) to be controlled. speed and acceleration Determine the relative positions at time t+1 and t+2 under the original motion state. and relative position In order to further obtain the repulsive potential fields at time t+1 and t+2. and

[0025] In some embodiments, the repulsive potential field in step S3 and The specific method to obtain it is as follows:

[0026]

[0027] Where η is the repulsive force scale factor.

[0028] ρ is the repulsion radius of the intelligent moving body (r) to be controlled.

[0029] The repulsive potential field at the original time t Based on this, construct virtual repulsive potential fields at times t+1 and t+2 as shown in equations (10) and (11). and In order to further obtain the total repulsive potential field experienced by the intelligent moving body (r) to be controlled.

[0030] In some embodiments, the total repulsive potential field in step S3 The specific method to obtain it is as follows:

[0031]

[0032] in, The repulsive potential field between the intelligent moving body (r) to be controlled and the intelligent moving body (s) within the repulsion range.

[0033] As a directional guiding factor, The angle between the line connecting the controlled intelligent moving body (r) and the intelligent moving body (s) within the repulsion range and the direction of motion of the controlled intelligent moving body (r) is given.

[0034] S represents the total number of intelligent moving bodies (s) within the exclusion range.

[0035] Since we only consider the repulsive potential field exerted on the controlled intelligent moving body (r) at time t by the intelligent moving body (s) within its repulsive range in front of it, Therefore, in the repulsive potential field Add a directional guiding factor to the calculation This makes obstacle avoidance and control of intelligent moving bodies more reasonable and scientific.

[0036] In some embodiments, the repulsive potential field U during the emergency stop in step S3 stop The specific method to obtain it is as follows:

[0037]

[0038] Where ρ0 is the emergency stop distance, and ρ0 < ρ,

[0039] η is the repulsive force scale factor.

[0040] v max The maximum speed at which the controlled intelligent moving body (r) and the intelligent moving body (s) within the repulsion range move toward each other.

[0041] Accurately calculate the repulsive potential field U during emergency stop stop To further obtain the magnitude of the acceleration ||a of the intelligent moving body (r) to be controlled at time t+1. r (t+1)||.

[0042] In some embodiments, the intelligent moving body (r) moving towards each other at time t and the intelligent moving body (s) within the repulsion range are at their maximum speed v per unit time. max The specific method for obtaining the emergency stopping distance ρ0 when decelerating to 0 is as follows:

[0043]

[0044] in, Let r be the maximum deceleration of the intelligent moving body to be controlled and s be the maximum deceleration of the intelligent moving body within the repulsion range.

[0045] d safe The safe distance between the intelligent moving body to be controlled (r) and the intelligent moving body (s) within the repulsion range.

[0046] Accurately calculate the emergency stop distance ρ0 to avoid collisions between the controlled intelligent moving body (r) and the intelligent moving body (s), thus ensuring driving safety.

[0047] In some embodiments, the magnitude of the acceleration ||a| of the intelligent moving body (r) to be controlled at time t+1 is obtained. r The specific method for (t+1)|| is as follows:

[0048]

[0049] in, Let r be the maximum deceleration of the intelligent moving body to be controlled and the intelligent moving body (s) within the repulsion range.

[0050] Obtain the magnitude of acceleration ||a r (t+1)|| can change the motion state of the intelligent moving body in a timely manner, effectively solve the path conflict problem of the intelligent moving body, and improve the driving efficiency of the intelligent moving body.

[0051] In some embodiments, if at time t there is no intelligent moving body (s) within the repulsion range, the speed of the intelligent moving body to be controlled (r) is ||v r (t)|| Maximum speed not reached v max Then the magnitude of the acceleration of the intelligent moving body to be controlled is ||a r (t+1)||with normal acceleration a normal Motion; if the speed of the intelligent moving body (r) to be controlled is ||v r (t)|| Reaching maximum speed v max Then control the magnitude of the acceleration of the intelligent moving body (r) ||a r (t+1)|| is 0. This is to solve the problems of path conflict and road locking of intelligent moving bodies, and improve the driving safety and working efficiency of intelligent moving bodies.

[0052] The control method for obstacle avoidance of intelligent moving bodies provided in this application has the following advantages:

[0053] 1. Using the intelligent moving body (r) to be controlled to sense the repulsive potential field at time t generated by the intelligent moving body (s) within the repulsion range. Virtual repulsive potential field at time t+1 and the virtual repulsive potential field at time t+2 This reflects the level of crowding around the intelligent moving body (r) to be controlled.

[0054] 2. Utilizing the net force F acting on the intelligent moving body (r) to be controlled r (t) Determine the magnitude of acceleration ||a r The direction of (t+1)|| determines the optimal next path point, avoiding collisions between the controlled intelligent moving body (r) and obstacles, thereby improving the driving safety and work efficiency of the intelligent moving body. Attached Figure Description

[0055] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0056] Figure 1 This is a schematic diagram of the repulsion radius ρ and emergency stop distance ρ0 of the intelligent moving body (r) to be controlled, which is a control method for obstacle avoidance of an intelligent moving body according to an embodiment of the present invention.

[0057] Figure 2 This is a schematic diagram of information interaction between intelligent moving bodies in a control method for obstacle avoidance of intelligent moving bodies according to an embodiment of the present invention.

[0058] Figure 3 This is a schematic diagram of the emergency stop state of the intelligent moving body (r) to be controlled, according to an embodiment of the present invention, for a control method for obstacle avoidance of an intelligent moving body.

[0059] Figure 4 This is a schematic diagram of the obstacle avoidance process of a control method for obstacle avoidance of an intelligent moving body according to an embodiment of the present invention. Detailed Implementation

[0060] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings.

[0061] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0062] Figure 1 The diagram shows the repulsion radius ρ and emergency stop distance ρ0 of the intelligent moving body (r) to be controlled, where Agent... r Agent represents the intelligent moving body (r) to be controlled.s "Agent" represents intelligent moving entities(s) within the exclusion range, while "Agent" represents intelligent moving entities outside the exclusion range. For example... Figure 1 As shown, the motion state C of the intelligent moving body (r) to be controlled at time t is detected. r The motion states C of the intelligent moving body (s) within the exclusion range (t) and C. s (t), C r (t)=[p r (t),v r (t),a r (t)],C s (t)=[p s (t),v s (t),a s [(t)], where p r (t), v r (t) and a r (t) represents the position, velocity, and acceleration of the intelligent moving body (r) to be controlled at time t; p s (t), v s (t) and a s (t) represents the position, velocity, and acceleration of the intelligent moving body (s) within the repulsion range at time t, where s is a natural number greater than or equal to 0. Furthermore, the relative position of the intelligent moving body (s) within the repulsion range at time t relative to the intelligent moving body (r) to be controlled is obtained. relative speed and relative acceleration The specific method to obtain it is as follows:

[0063]

[0064] Using the obtained relative position relative speed and relative acceleration Proceed to the next step.

[0065] Figure 2 A schematic diagram illustrating the information interaction between the intelligent moving body (r) to be controlled and the intelligent moving body (s) within the exclusion range is shown, wherein... Let p be the angle between the line connecting the intelligent moving body (r) to be controlled and the intelligent moving body (s) within the repulsion range and the direction of motion of the intelligent moving body (r) to be controlled. s (t), p s (t+1),p s (t+2) represent the positions of the intelligent moving object (s) within the exclusion range at times t, t+1, and t+2, respectively. For example... Figure 2As shown, while maintaining the original motion state, the relative positions of the intelligent moving body (s) within the repulsion range at times t+1 and t+2 are further obtained relative to the intelligent moving body (r) to be controlled, based on the laws of motion of objects. and relative position The specific method to obtain it is as follows:

[0066]

[0067] in, Let t+1 be the velocity of the intelligent moving body (s) within the exclusion range relative to the intelligent moving body (r) to be controlled.

[0068] Furthermore, based on the repulsive potential field in the artificial potential field method, the repulsive potential field generated by the intelligent moving body (s) within the repulsion range sensed by the intelligent moving body (r) to be controlled at time t is obtained. and the repulsive potential field at the original time t Based on this, construct the virtual repulsive potential field at time t+1 as shown in the following formula. And the virtual repulsive potential field at time t+2 The specific method to obtain it is as follows:

[0069]

[0070]

[0071] Where η is the repulsive force scale factor, and ρ is the repulsive range radius of the intelligent moving body (r) to be controlled.

[0072] Since we only consider the repulsive potential field exerted on the controlled intelligent moving body (r) at time t by the intelligent moving body (s) within its repulsive range in front of it, Therefore, in calculating the repulsive potential field... Introducing directional guiding factors The specific method for importing is as follows:

[0073]

[0074] in, The repulsive potential field is the repulsive potential field of the intelligent moving body (s) within the repulsion range of the intelligent moving body (r) to be controlled; As a directional guiding factor, Let S be the angle between the line connecting the intelligent moving body (r) to be controlled and the intelligent moving body (s) within the repulsion range and the direction of movement of the intelligent moving body (r) to be controlled, and let S be the total number of intelligent moving bodies (s) within the repulsion range.

[0075] Total repulsive potential field pass The result is obtained, where S is the total number of intelligent moving bodies (s) within the exclusion range.

[0076] Figure 3 A schematic diagram of the emergency stop states of the intelligent moving body (r) to be controlled and the intelligent moving body (s) within the repulsion range is shown, as follows: Figure 3 As shown, at time t, when the intelligent moving body to be controlled (r) and the intelligent moving body (s) within the repulsion range are separated by an emergency stop distance ρ0 (ρ0 < ρ), they still move at their maximum speed v. max To avoid a collision when moving towards each other, both the controlled intelligent moving body (r) and the intelligent moving body (s) within the repulsion range must reach their maximum speed v within a unit of time. max After decelerating to 0 and coming to a stop, a safe distance d must be maintained between the two moving objects. safe Therefore, the specific method for obtaining the emergency stopping distance ρ0 is as follows:

[0077]

[0078] in, Let r be the maximum deceleration of the intelligent moving body to be controlled and the intelligent moving body (s) within the repulsion range.

[0079] Repulsive potential field U during emergency stop stop The specific method to obtain it is as follows:

[0080]

[0081] Where η is the repulsive force scale factor.

[0082] The intelligent moving body (r) to be controlled will exert a repulsive potential on the total repulsive potential field at time t+1 against the total repulsive potential field at time t. To react, at time t+1, control the magnitude of the acceleration of the intelligent moving body (r) ||a r The specific method for obtaining (t+1)|| is as follows:

[0083]

[0084] At time t, the repulsive potential field of the intelligent moving body (s) within the repulsion range is sensed by the intelligent moving body (r) to be controlled. Obtain the relative repulsive force between the intelligent moving body (s) and the intelligent moving body (r) to be controlled within the repulsion range. And through repulsion Obtain the net force F acting on the intelligent moving body (r) to be controlled. r (t), relative repulsion and resultant force F r The specific method for obtaining (t) is as follows:

[0085]

[0086] Where S is the number of intelligent moving bodies (s) within the exclusion range.

[0087] Based on the obtained resultant force F r Unit vector in the direction of (t) The magnitude of acceleration at time t+1 ||a r (t+1)|| is combined into an acceleration vector a r (t+1), and at the same time, the velocity v at time t+1 is obtained respectively. r (t+1) and position p r (t+1), the specific method for obtaining it is as follows:

[0088]

[0089] v r (t+1)=v r (t)+a r (t)·Δt

[0090] p r (t+1)=p r (t)+v r (t)·Δt

[0091] Using the acceleration a at time t+1 r (t+1), velocity v r (t+1) and position p r (t+1) enables the controlled intelligent moving body (r) to effectively avoid intelligent moving bodies (s) within the repulsion range, thereby improving the driving safety and working efficiency of the intelligent moving body.

[0092] The above implementation method will be illustrated below with a specific obstacle avoidance process, such as... Figure 4 As shown, it includes the following steps:

[0093] At time t=0, the intelligent moving body (r) to be controlled begins to move, and the motion state C of the intelligent moving body (r) to be controlled is detected in real time by an infrared sensor (or other sensor). r The motion states C of the intelligent moving body (s) within the exclusion range (t) and C. s (t), where the motion state C r (t) includes the position p of the intelligent moving body (r) to be controlled. r (t), velocity v r (t) and acceleration a r (t), motion state C s (t) includes the position p of the intelligent moving body (s) within the exclusion range. s (t), velocity v s(t) and acceleration a s (t), where s is a natural number greater than or equal to 0;

[0094] Obtain the velocity v of the intelligent moving body (r) to be controlled at time t+1. r (t+1) and position p r At time t+1, the intelligent moving body (r) to be controlled establishes a communication topology to determine whether there is an intelligent moving body (s) within the emergency stop distance ρ0. If there is an intelligent moving body (s) within the emergency stop distance ρ0, the intelligent moving body (r) to be controlled decelerates at time t+1. Driving; if there is no intelligent moving body (s) within the emergency stop distance ρ0, then further determine whether there is an intelligent moving body (s) within the exclusion range.

[0095] If there are intelligent moving bodies (s) within the exclusion range, then the number S of intelligent moving bodies (s) within the exclusion range needs to be determined, and further determined using the formula. Obtain the total repulsive potential field judge 1. Does this condition hold true? If so, then the controlled intelligent moving body (r) decelerates at time t+1 with maximum deceleration. Driving, if If this is not true, then the intelligent moving body (r) to be controlled at time t+1... Change the speed magnitude; if no intelligent moving body (s) exists within the exclusion range, further determine the speed magnitude ||v of the intelligent moving body (r) to be controlled at time t. r Is (t)|| equal to the maximum speed v? max If ||v r (t)|| equals the maximum velocity v max Then the magnitude of the acceleration of the intelligent moving body (r) to be controlled at time t+1 is ||a r (t+1)|| is 0, if ||v r (t)|| is not equal to the maximum speed v max Then the magnitude of the acceleration of the intelligent moving body (r) to be controlled at time t+1 is ||a r (t+1)||with normal acceleration a normal Driving.

[0096] Obtain the magnitude of the acceleration ||a| of the controlled intelligent moving body (r) at time t+1. r (t+1)|| while passing through the formula The net force F acting on the intelligent moving body (r) to be controlled is obtained. r (t) through the resultant force F r Unit vector in the direction of (t) With the obtained magnitude of acceleration ||a r(t+1)|| is combined into an acceleration vector a r (t+1). Let t = t+1, and update the motion state C of the intelligent moving body (r) to be controlled in real time for the next moment. r The motion states C of the intelligent moving body (s) within the exclusion range (t) and C. s (t).

[0097] It should be noted that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention can have various modifications and variations. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention. It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0098] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A control method for obstacle avoidance in intelligent moving bodies, characterized in that, The specific steps of this method are as follows: S1: Detect the motion state C of the intelligent moving body (r) to be controlled at time t. r (t) and the number S and motion state C of intelligent moving bodies (s) within a repulsion range centered on the intelligent moving body (r) with radius ρ. s (t), the motion state C r (t) includes the position p of the intelligent moving body (r) to be controlled. r (t), velocity v r (t) and acceleration a r (t), the motion state C s (t) includes the position p of the intelligent moving body (s) within the repulsion range. s (t), velocity v s (t) and acceleration a s (t), where s is a natural number greater than or equal to 0; S2: Based on the obtained position p r (t), position p s (t), velocity v r (t), velocity v s (t), acceleration a r (t) and acceleration a s (t) Obtain the relative position of the intelligent moving body (s) within the repulsion range at time t relative to the intelligent moving body (r) to be controlled. relative speed and relative acceleration Furthermore, based on the laws of motion, the relative positions of the intelligent moving body (s) within the repulsion range at times t+1 and t+2 with respect to the intelligent moving body (r) to be controlled are obtained. and relative position S3: Based on the repulsive potential field in the artificial potential field method, obtain the repulsive potential fields from the intelligent moving body (s) within the repulsion range that the controlled intelligent moving body (r) experiences at times t, t+1, and t+2, respectively. and And the repulsive potential field U during emergency stop stop The total repulsive potential field of all intelligent moving bodies (s) within the repulsion range applied to the controlled intelligent moving body (r). S4: The velocity v obtained from step S2 r (t) and acceleration a r (t) Obtain the velocity v of the intelligent moving body (r) to be controlled at time t+1. r (t+1); based on the position p obtained in step S2 r (t) and velocity v r (t) Obtain the position p of the intelligent moving body (r) to be controlled at time t+1. r (t+1); based on the total repulsive potential field obtained in step S3 and the repulsive potential field U during the emergency stop stop Obtain the magnitude of the acceleration ||a| of the intelligent moving body (r) to be controlled at time t+1. r (t+1)||.

2. The control method for obstacle avoidance of an intelligent moving body according to claim 1, characterized in that, The specific steps of this method also include obtaining the resultant force F acting on the intelligent moving body (r) to be controlled. r (t), through the resultant force F r Unit vector in the direction of (t) The magnitude of acceleration ||a obtained in step S4 r (t+1)|| is combined into an acceleration vector a r (t+1).

3. The control method for obstacle avoidance of an intelligent moving body according to claim 2, characterized in that, The resultant force F acting on the intelligent moving body (r) to be controlled r The specific method for obtaining (t) is as follows: in, S is the repulsive potential field from the intelligent moving body (s) within the repulsion range that the intelligent moving body (r) to be controlled is subjected to; S is the number of intelligent moving bodies (s) within the repulsion range. The acceleration a of the intelligent moving body (r) to be controlled at time t+1 r (t+1), velocity v r (t+1) and position p r The specific method for obtaining (t+1) is as follows: v r (t+1)=v r (t)+a r (t)·Δt (3) p r (t+1)=p r (t)+v r (t)·Δt (4) in, The resultant force F r The unit vector in the direction of (t).

4. The control method for obstacle avoidance in an intelligent moving body according to claim 1, characterized in that, The relative position described in step S2 and relative position The specific method to obtain it is as follows: in, Let t+1 be the velocity of the intelligent moving body (s) within the repulsion range relative to the intelligent moving body (r) to be controlled.

5. The control method for obstacle avoidance of an intelligent moving body according to claim 1, characterized in that, The repulsive potential field described in step S3 and The specific method to obtain it is as follows: Where η is the repulsive force scale factor. ρ is the repulsion radius of the intelligent moving body (r) to be controlled.

6. The control method for obstacle avoidance of an intelligent moving body according to claim 1, characterized in that, The total repulsive potential field mentioned in step S3 The specific method to obtain it is as follows: in, The repulsive potential field between the intelligent moving body (r) to be controlled and the intelligent moving body (s) within the repulsion range. As a directional guiding factor, The angle between the line connecting the controlled intelligent moving body (r) and the intelligent moving body (s) within the repulsion range and the direction of motion of the controlled intelligent moving body (r) is given. S represents the total number of intelligent moving bodies (s) within the exclusion range.

7. The control method for obstacle avoidance of an intelligent moving body according to claim 1, characterized in that, The repulsive potential field U during the emergency stop described in step S3 stop The specific method to obtain it is as follows: Where ρ0 is the emergency stop distance, and ρ0 < ρ, η is the repulsive force scale factor. v max The maximum speed at which the controlled intelligent moving body (r) and the intelligent moving body (s) within the repulsion range move toward each other.

8. The control method for obstacle avoidance of an intelligent moving body according to claim 7, characterized in that, At time t, both the intelligent moving body to be controlled (r) and the intelligent moving body (s) within the repulsion range moving towards each other have a maximum velocity v per unit time. max The specific method for obtaining the emergency stopping distance ρ0 for deceleration to 0 is as follows: in, The maximum deceleration of the intelligent moving body (r) to be controlled and the intelligent moving body (s) within the repulsion range. d safe The safe distance between the intelligent moving body (r) to be controlled and the intelligent moving body (s) within the repulsion range.

9. The control method for obstacle avoidance of an intelligent moving body according to claim 1, characterized in that, Obtain the magnitude of the acceleration ||a| of the intelligent moving body (r) to be controlled at time t+1. r The specific method for (t+1)|| is as follows: in, The maximum deceleration is defined as the controlled intelligent moving body (r) and the intelligent moving body (s) within the repulsion range.

10. A control method for obstacle avoidance in an intelligent moving body according to claim 7, characterized in that, If at time t, the intelligent moving body to be controlled (r) does not exist within the repulsion range, and the speed of the intelligent moving body to be controlled is ||v r (t)|| Maximum speed not reached v max Then the magnitude of the acceleration of the intelligent moving body to be controlled is ||a r (t+1)||with normal acceleration a normal Motion; if the speed of the intelligent moving body (r) to be controlled is ||v r (t)|| Reaching maximum speed v max Then the magnitude of the acceleration of the intelligent moving body (r) to be controlled is ||a r (t+1)|| is 0.

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