A Method for Constructing the Artificial Lorentz Force of an Aggregate Induced by an Artificial Potential Field and Obstacle Avoidance Control

Abstract

The present invention discloses a method for constructing an artificial Lorentz force of a combined body induced by an artificial potential field and obstacle avoidance control. By constructing an artificial Lorentz force induced by an artificial potential field as an additional term of an obstacle avoidance control law based on the artificial potential field, a feasible control method for avoiding obstacles of the combined body is provided. The introduced artificial Lorentz force is perpendicular to the velocity and has certain random search characteristics, which can eliminate the local extreme points of the robot's motion trajectory without changing the stability of the closed-loop system, and solves the problem that the classical artificial potential field method is difficult to be used for the obstacle avoidance control of complex structure obstacles.

Description

Technical Field

[0001] The present invention belongs to the field of obstacle avoidance motion control of agents / wheeled robots / unmanned aerial vehicles / spacecraft, and particularly relates to a method for constructing a combined artificial Lorentz force induced by an artificial potential field and obstacle avoidance control. Background Art

[0002] In the motion control of real individuals or clusters such as wheeled robots / unmanned aerial vehicles / spacecraft, in order to ensure the safe operation of individuals, it is inevitable to consider the avoidance of obstacles in the environment. Among them, the artificial potential field method is widely used when the obstacle structure and distribution are relatively simple due to its simple construction and easy calculation. On the other hand, considering the local extreme value problem that easily exists in the artificial potential field method, some researchers, inspired by the movement of charges in a magnetic field, designed a Lorentz-type collision avoidance force (hereinafter simply referred to as artificial Lorentz force) for individuals. However, the existing related research is generally restricted by the physical laws of electromagnetism and depends on the prior determination of the direction of the magnetic field (or the current generating the magnetic field) (hereinafter referred to as the reference direction). Although the direction perpendicular to the paper surface can be used as such a direction for two-dimensional obstacles, for three-dimensional obstacles (especially irregular three-dimensional obstacles and the case lacking an accurate reference coordinate system), the prior specification of such a direction is relatively difficult. Therefore, it is difficult to effectively avoid such obstacles with the existing artificial Lorentz force. Summary of the Invention

[0003] The purpose of the present invention is to overcome the above-mentioned disadvantages of the prior art and provide a method for constructing a combined artificial Lorentz force induced by an artificial potential field and obstacle avoidance control. This control method is added to the obstacle avoidance control law designed based on the classical artificial potential field, so that the robot's movement can effectively jump out of the local extreme value area formed by the obstacle while maintaining a sufficient distance from the obstacle and successfully reach the target position, in order to solve the problem that it is relatively difficult to pre-specify the reference direction for three-dimensional obstacles and it is difficult to effectively avoid obstacles with the existing artificial Lorentz force.

[0004] To achieve the above purpose, the present invention adopts the following technical solutions:

[0005] A method for constructing a combined artificial Lorentz force induced by an artificial potential field and obstacle avoidance control, comprising the following steps:

[0006] Determine the dynamic model and parameters of the robot, and the parameters include a collision avoidance detection distance threshold, an obstacle repulsion potential coefficient, and a control law additional term coefficient;

[0007] Decompose the obstacle into several basic geometric units;

[0008] Construct a repulsive potential function for the obstacle, where the repulsive potential function is related to the basic geometric element, the artificial potential function, and the analytical numerical calculation of the distance from a point to the basic geometric element;

[0009] Calculate the gradient of the repulsive potential function to obtain the obstacle repulsive potential field;

[0010] Based on the obstacle repulsive potential field and the speed of the robot, establish a calculation formula for the artificial Lorentz force;

[0011] Establish a motion control law for the robot, where the motion control law is related to the current position coordinates of the robot, the speed of the robot, the desired position of the robot, the obstacle repulsive term of the robot, and the artificial Lorentz force;

[0012] The robot takes the motion control law and parameters as the basis and performs motion simulation according to the dynamic model of the robot. If the simulation result meets the requirements, the setting ends. If the simulation result does not meet the requirements, adjust the parameters and then perform the simulation until the requirements are met.

[0013] A further improvement of the present invention lies in:

[0014] Preferably, the dynamic model of the robot is:

[0015]

[0016] Among them, ξ(t) is the position vector of the robot at time t, ζ(t) is the speed vector of the robot at time t, f(ξ(t), ζ(t)) is the open-loop dynamic function of the robot, and U(t) is the control quantity of the robot at time t.

[0017] Preferably, the decomposition of the obstacle into several basic geometric elements is:

[0018]

[0019] Among them, the is the basic geometric element, and all the basic geometric elements are convex geometric bodies.

[0020] Preferably, the repulsive potential function is:

[0021]

[0022] Among them, V i is the repulsive potential function of the basic geometric element B i of the obstacle, and the calculation formula of V i is:

[0023]

[0024] Among them, α is the obstacle repulsive potential coefficient, Do is the collision avoidance detection distance threshold, d i is the distance from point P(x, y, z) to the basic geometric unit B i When the nearest neighbor point P i of point P on the basic geometric unit B is known, it is calculated according to the following formula. The point P is the current position of the robot; Nearesti coordinates (x i , y i , z i )

[0025]

[0026] Preferably, the calculation formula of the obstacle repulsive potential field is:

[0027]

[0028] where F i (x, y, z) is the obstacle repulsive potential field of the basic geometric unit B i of the obstacle.

[0029] Preferably, the calculation formula of the obstacle repulsive potential field of the basic geometric unit B i of the obstacle is:

[0030]

[0031] where is the gradient of the distance d from point P to the basic geometric unit B i at point P. i

[0032] Preferably, the calculation formula of the gradient of the distance d from point P to the basic geometric unit B i at point P is: i

[0033]

[0034] where (x i , y i , z i ) are the coordinates of the nearest neighbor point P i of point P on the basic geometric unit B; (x, y, z) are the coordinates of the known point P, and the point P is the current position of the robot. Nearesti

[0035] Preferably, the calculation formula of the artificial Lorentz force is:

[0036]

[0037] ​​​where θ = <ζ(t), F(x, y, z)> is the angle between the vector ζ(t) and the vector F(x, y, z), and ||F(x, y, z)|| is the length of the vector F(x, y, z).

[0038] Preferably, the motion control law of the robot is:

[0039] U(t) = -f(ξ(t), ζ(t)) - k p (ξ(t) - ξ r ) - k v ζ(t) + U o (t) + U ⊥ (t) (10)

[0040] where k p is the position feedback coefficient, k v is the velocity feedback coefficient, ξ r is the desired position of the robot, ξ(t) is the current position coordinate of the robot, ζ(t) is the velocity of the robot, and U o (t) is the obstacle repulsion term of the robot.

[0041] Preferably, the calculation formula for the obstacle repulsion term of the robot is:

[0042] U o (t) = F(ξ(t))

[0043] where F(ξ(t)) is the value of the obstacle repulsion potential field of formula (6) at ξ(t).

[0044] Compared with the prior art, the present invention has the following beneficial effects:

[0045] The present invention discloses a method for constructing a combined artificial Lorentz force induced by an artificial potential field and obstacle avoidance control. By constructing an artificial Lorentz force induced by an artificial potential field as an additional term of the obstacle avoidance control law based on the artificial potential field method, a feasible control method for avoiding combined obstacles is provided. The introduced artificial Lorentz force is perpendicular to the velocity (thus not changing the total energy of the system), and at the same time has certain random search characteristics, which can eliminate the local extreme points of the robot's motion trajectory without changing the stability of the closed-loop system, and solves the problem that the classical artificial potential field method is difficult to be used for the obstacle avoidance control of complex structure obstacles. And because the artificial Lorentz force only depends on the current velocity of the robot and the artificial repulsive potential field value of the obstacle, and these two pieces of information are both local observation information and do not depend on the global cognition of the environment, so that this method can achieve obstacle avoidance in the case of lack of global cognition of environmental obstacles. The obstacle avoidance control law of the present invention has a simple form and the information is easy to obtain, meeting the practical application requirements of complex obstacle avoidance control under limited computing power. This method combines the artificial Lorentz force with the classical artificial potential field obstacle avoidance method and applies it to three-dimensional obstacle avoidance control to eliminate the local extreme points formed by the classical artificial potential field model near the obstacle. The present invention only uses two local information, namely the obstacle repulsive potential field and the current velocity of the robot, to design a suitable artificial Lorentz force for the robot and add it to the obstacle avoidance control law designed based on the obstacle repulsive potential field, so as to get rid of the dependence on the reference direction, and enable the individual to jump out of the local extreme points formed by the obstacle potential field and successfully reach the target position on the basis of keeping a sufficient distance from the obstacle only through its own decision-making. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 is the flowchart of the method for constructing a combined artificial Lorentz force induced by an artificial potential field and obstacle avoidance control of the present invention.

[0047] Figure 2 is the geometric structure diagram of the combined obstacle constructed in the specific embodiment.

[0048] Figure 3 is the contour map of the potential function distribution of the combined obstacle constructed in the specific embodiment.

[0049] Figure 4 is the schematic diagram of the artificial Lorentz force in the present invention.

[0050] Figure 5 is the obstacle avoidance motion trajectory diagram of the spacecraft in the specific embodiment.

[0051] Figure 6 is the diagram of the component of the spacecraft control quantity changing with time in the specific embodiment.

[0052] Figure 7 is the diagram of the component of the spacecraft position error changing with time in the specific embodiment.

[0053] Figure 8 It is a graph showing the variation of the minimum distance between the spacecraft and the obstacle surface with time in a specific embodiment.

[0054] Figure 9 It is a graph of the obstacle avoidance motion trajectory of the spacecraft without artificial Lorentz force in a specific embodiment.

[0055] Figure 10 It is a graph showing the variation of the position error component of the spacecraft without artificial Lorentz force with time in a specific embodiment. Detailed implementation manner

[0056] The present invention will be further described in detail below with reference to the accompanying drawings:

[0057] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention; the terms "first", "second", "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance; in addition, unless otherwise clearly defined and limited, the terms "installation", "connection", "connection" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0058] The present invention provides a combined body obstacle avoidance control method for a robot to effectively avoid local extreme regions by constructing an artificial Lorentz force induced by an obstacle artificial repulsive potential field, including the following steps: S1: Given the robot dynamics model, initial position, target position, geometric structure of obstacle B and various parameter values; S2: Decompose the obstacle into the union of basic geometric units; S3: Construct a repulsive potential function for the obstacle with the distance from a point to the basic geometric unit of the obstacle as the independent variable; S4: Take the gradient of the obstacle repulsive potential function to obtain the obstacle repulsive potential field; S5: Use the current velocity of the robot and the value of the obstacle potential field at the current position of the robot to construct an artificial Lorentz force; S6: Combine the designed obstacle repulsive potential field and the artificial Lorentz force to design a control law for the robot; S7: Conduct robot motion simulation and adjust the parameter values listed in S1 to meet the requirements. Since the obstacle repulsive potential field and the artificial Lorentz force induced by it are only based on local measurement information of the robot, the present invention enables the robot to avoid the constraints of obstacles and successfully reach the target position while maintaining a certain distance from the obstacles only based on local measurement information in the absence of global awareness of the environment. And the obstacle repulsive potential field takes the distance from a point to the basic geometric unit as the independent variable, with a simple form and easy to calculate, thus making the present invention convenient for engineering applications.

[0059] The present invention discloses a method for constructing a combined body artificial Lorentz force induced by an artificial potential field and obstacle avoidance control, that is, designing an artificial potential field obstacle avoidance control law with an artificial Lorentz force additional term for the robot. In order to more accurately express the meaning of the artificial potential field, the following uses the obstacle potential field to express the artificial potential field, including the following steps:

[0060] S1: Define the dynamics model, initial position, target position of the robot, geometric structure of obstacle B, collision avoidance detection distance threshold D o , obstacle repulsive potential coefficient α and control law additional term coefficient α ⊥ Parameter information. The dynamics model of the robot is given in the following form:

[0061]

[0062] Where ξ(t) is the robot position vector at time t, ζ(t) is the robot velocity vector at time t, f(ξ(t), ζ(t)) is the robot open-loop dynamics function, and U(t) is the robot control quantity at time t.

[0063] S2: Decompose obstacle B into the union of n b basic geometric units, as shown in the following formula:

[0064]

[0065] Among them, each geometric unit is a convex geometric body, and the distance from a point to these geometric units can be analytically or numerically calculated. The decomposition of the obstacle B does not have a unique form. Preferably, the number of geometric units is the least.

[0066] S3: Based on the composition of the basic geometric units of the obstacle, the form of the classical artificial potential function, and the analytical formula / numerical calculation of the distance from a point to the basic geometric unit, construct a repulsive potential function for the obstacle in the following form;

[0067]

[0068] Among them, V i is the repulsive potential function of the basic geometric unit B i of the obstacle, and its form is:

[0069]

[0070] Among them, d i is the distance from the point P(x, y, z) to the basic geometric unit B i . When the coordinates (x i , y Nearesti , z i , y i , z i ) of the nearest neighbor point P Nearesti of the point P on the basic geometric unit B i are known, it can be calculated according to the following formula, where the point P(x, y, z) is the current position of the robot;

[0071]

[0072] S4: Calculate the gradient of the obstacle repulsive potential function to obtain the following form of the obstacle repulsive potential field, which is used as the obstacle repulsive term in the robot control law and as the design basis for the artificial Lorentz force in the robot control law:

[0073]

[0074] Among them, F i (x, y, z) is the obstacle repulsive potential field of the basic geometric unit B i of the obstacle, which is obtained by taking the negative gradient of the corresponding potential function V i with respect to the coordinates of the point P, and its form is:

[0075]

[0076] Among them is the gradient of the distance d i from the point P to the basic geometric unit B i at the point P. When the coordinates (x i ) of the nearest neighbor point P Nearesti of the point P on the basic geometric unit B i are known, it can be calculated according to the following formula, where the point P(x, y, z) is the current position of the robot;i , y i , z i ) can be calculated according to the following formula

[0077]

[0078] S5: Based on the value F(ξ(t)) of the obstacle repulsion potential field at the current position of the robot (replacing x, y, and z in formula (6) with the three coordinate components of the robot's current position ξ(t)) and the robot's velocity ζ(t), design an artificial Lorentz force in the following form as an additional term in the robot control law:

[0079]

[0080] where θ = <ζ(t), F(ξ(t))> is the angle between the vector ζ(t) and the vector F(ξ(t)), and ||F(ξ(t))|| is the length of the vector F(ξ(t)). When the robot velocity ζ(t) is collinear with the obstacle repulsion potential field F(ξ(t)), calculate U ⊥ (t) by replacing the robot velocity ζ(t) with a random vector, so that the movement of the robot has a certain search characteristic.

[0081] S6: By taking (x, y, z) in the obstacle repulsion potential field formula (6) as the robot's current position coordinates ξ(t), obtain the obstacle repulsion term U o (t) = F(ξ(t)), where F(ξ(t)) is the value of the obstacle repulsion potential field defined by formula (6) at ξ(t) (replacing x, y, and z with the three coordinate components of ξ(t)), and combining with the artificial Lorentz force designed in formula (9), design a motion control law for the robot in the following form:

[0082] U(t) = -f(ξ(t), ζ(t)) - k p (ξ(t) - ξ r ) - k v ζ(t) + U o (t) + U ⊥ (t) (10)

[0083] where k p is the position feedback coefficient, k v is the velocity feedback coefficient, ξ r is the desired position of the robot, in order to enable the robot to effectively avoid collisions with obstacles while crossing the obstacle barrier and successfully reach the target position ξ r .

[0084] S7: Using the designed control law (10) and the parameter settings in S1, conduct robot motion simulation under the dynamic model shown in formula (1). If the simulation results meet the user requirements (such as the difference between the final position of the robot and the target position is less than a certain threshold), then end. Otherwise, adjust the collision avoidance detection distance threshold D o , the obstacle repulsion potential coefficient α, and the control law additional term coefficient α ⊥ (For example, if the robot's motion trajectory is close to the obstacle, the obstacle repulsion coefficient α can be appropriately increased; if the robot turns back and forth near the obstacle, the control law additional term coefficient α can be appropriately increased ⊥ ; D o can be taken as large as possible under the condition that the obstacle avoidance force at the initial and target positions of the robot is 0), and then re - conduct the simulation until the requirements are met

[0085] Embodiment 1

[0086] Considering that the geometric structure of the spacecraft is relatively regular and can be approximated as a combination of basic geometric bodies such as spheres and cuboids, and the space station structure has a certain complexity, in this embodiment, the obstacle avoidance motion of the accompanying spacecraft (robot) near the space station (reference spacecraft) is taken as the research object to illustrate the specific implementation method of the present invention

[0087] S1: Define the dynamic model, initial position, target position of the robot, the geometric structure of obstacle B and other parameter values. Here, referring to the simplified geometric structure of the space station, the basic geometric unit parameters of the combined obstacle are given in Table 1 (the capsule is a cylinder whose two end faces are replaced by hemispheres with the same radius), and the specific schematic diagram is as Figure 2 shown. The collision avoidance detection distance threshold D o = 10m, the obstacle repulsion potential coefficient α = 10 -12 km 4 / s 2 , the control law additional term coefficient α ⊥ = 10 -12 km 4 / s 2 . The initial position of the robot ξ(0) = (-0.04, 0, 0) T , the target position ξ r = (0.04, 0, 0) T , and the dynamic model is in the following form:

[0088]

[0089] where ω is the angular velocity of the reference spacecraft's orbit around the Earth, and U(t) is the control quantity to be designed

[0090] Table 1 Composition and Parameters of Basic Geometric Bodies of the Simplified Geometric Structure of the Space Station

[0091]

[0092] S2: Decompose the obstacle into the union of basic geometric units. Since the geometric structure of the obstacle has been given in the form of basic geometric units and each basic geometric unit is a convex body, no geometric structure decomposition is required. Only the formula for the distance from a point to each basic geometric unit is given, as shown in Table 2.

[0093] S3: Based on the composition of the basic geometric units of the obstacle, the form of the classical artificial potential function, and the analytical formula / numerical calculation of the distance from a point to the basic geometric unit, construct the following form of repulsive potential function for the obstacle;

[0094]

[0095] where V i is the repulsive potential function of the basic geometric unit B i of the obstacle, and its form is

[0096]

[0097] where d i is the distance from the point P(x, y, z) to the basic geometric unit B i , and is calculated according to the parameters of the basic geometric units of the obstacle shown in Table 1 and the distance formula from a point to the basic geometric unit given in Table 2.

[0098] Table 2 Distances from Point P(x, y, z) to Several Simple Geometric Bodies

[0099]

[0100]

[0101] To visually display the obstacle repulsive potential function, Figure 3 a contour map of the potential function value distribution in the space near the obstacle is given.

[0102] S4: Calculate the gradient of the obstacle repulsive potential function to obtain the following form of the obstacle repulsive potential field, which is used as the obstacle repulsive term in the robot control law and as the design basis for the artificial Lorentz force in the robot control law:

[0103]

[0104] where, F i (x, y, z) is the obstacle repulsive potential field of the basic geometric unit B i of the obstacle, and its form is

[0105]

[0106] Among them, is the distance d from the point P(x, y, z) to the basic geometric unit B i and the gradient at the point P. For the basic geometric unit involved in this embodiment, it can be calculated according to the following formula (the subscript corresponds to the geometric unit number): i In point P, the gradient can be calculated according to the following formula (the subscript corresponds to the geometric unit number) for the basic geometric unit involved in this embodiment:

[0107]

[0108]

[0109]

[0110] S5: Based on the obstacle repulsive potential field and the velocity ζ(t) of the robot, design an artificial Lorentz force in the following form as an additional term in the robot control law:

[0111]

[0112] Its amplitude is related to two factors: the obstacle repulsive potential field F(x, y, z) of the obstacle at the current position of the robot and the angle θ between it and the robot velocity ζ(t). The direction is perpendicular to the robot velocity direction and points to the outside of the obstacle, as Figure 4 shown.

[0113] S6: By taking (x, y, z) in the obstacle repulsive potential field formula (14) as the current position coordinates ξ(t) of the robot, obtain the obstacle repulsive term U o (t) = F(ξ(t)), and combine the above-designed obstacle repulsive potential field and artificial Lorentz force to design a motion control law in the following form for the robot (the point P(x, y, z) is taken as the current position coordinates ξ(t) of the robot)

[0114] U(t) = -D 21 ξ(t) - D 22 ζ(t) - k p ξ(t) - k v ζ(t) + U o (t) + U ⊥ (t) (20)

[0115] Among them, k p is the position feedback coefficient, k v is the velocity feedback coefficient, U ⊥ (t) is the artificial Lorentz force (additional term of the control law) designed by formula (19), in order to enable the robot to effectively avoid collisions with obstacles and cross the obstacle barrier to successfully reach the target position.

[0116] S7: Based on the control law (20) and the parameter values set in S1, under the dynamic model shown in formula (11), perform the robot obstacle avoidance motion simulation. Set the simulation time to 40000 s, and the obtained results are as Figures 5 to 8 shown. It can be found that under the action of the designed control law, the robot can successfully cross the obstacle, converge to the target position with high precision, and the amplitude of the control quantity is also within an appropriate order of magnitude. In contrast, the simulation results of the control law without the artificial Lorentz force U ⊥ (t) are as Figures 9 to 10 shown. It can be found that the robot gets trapped in the local area near the obstacle and cannot reach the target position successfully.

[0117] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for constructing a combined artificial Lorentz force induced by an artificial potential field and obstacle avoidance control, characterized in that Including the following steps: Determine the dynamic model and parameters of the robot, where the parameters include the collision avoidance detection distance threshold, the obstacle repulsion potential coefficient, and the control law additional term coefficient; Decompose the obstacle into several basic geometric units; Construct the repulsion potential function of the obstacle, where the repulsion potential function is related to the basic geometric unit, the artificial potential function, and the analytical numerical calculation of the distance from a point to the basic geometric unit; Calculate the gradient of the repulsion potential function to obtain the obstacle repulsion potential field; Based on the obstacle repulsion potential field and the velocity of the robot, establish the calculation formula for the artificial Lorentz force; The calculation formula for the artificial Lorentz force is: (9) where is a vector and vector the included angle of is a vector the length of Establish the motion control law of the robot, where the motion control law is related to the current position coordinates of the robot, the velocity of the robot, the desired position of the robot, the obstacle repulsion term of the robot, and the artificial Lorentz force; The robot takes the motion control law and parameters as the basis and performs motion simulation according to the dynamic model of the robot. If the simulation result meets the requirements, the setting ends. If the simulation result does not meet the requirements, the parameters are adjusted and then the simulation is performed until the requirements are met.

2. The method for constructing a combined artificial Lorentz force and obstacle avoidance control induced by an artificial potential field according to claim 1, wherein The dynamic model of the robot is: (1) Among them, is the robot position vector at the is the robot velocity vector at the is the robot open-loop dynamics function, is the robot control quantity at the 3. A method for constructing a combined artificial Lorentz force induced by an artificial potential field and obstacle avoidance control according to claim 1, characterized in that The decomposition of the obstacle into several basic geometric units is: (2) Among them, the , , ……, are basic geometric units, and all of the basic geometric units are convex geometric bodies.

4. A method for constructing a combined artificial Lorentz force induced by an artificial potential field and obstacle avoidance control according to claim 1, characterized in that The repulsion potential function is: (3) Among them, is the repulsive potential function of the basic geometric unit of the obstacle , and its calculation formula is: ​ (4) Among them, is the obstacle repulsion potential coefficient, is the collision avoidance detection distance threshold, is the point to the basic geometric unit distance, at the known point on the basic geometric unit the nearest neighbor point coordinates is calculated according to the following formula when, the point P is the current position of the robot; (5)。 5. A combined artificial Lorentz force construction and obstacle avoidance control method induced by artificial potential field according to claim 1, characterized in that, The calculation formula for the obstacle repulsion potential field is: (6) Among them is the basic geometric unit of the obstacle of the obstacle repulsive potential field 6. A method for constructing a combined artificial Lorentz force induced by an artificial potential field and obstacle avoidance control according to claim 5, characterized in that, Basic geometric unit of obstacle The calculation formula of the obstacle repulsive potential field is as follows: (7) wherein is the point to the basic geometric unit distance at the point gradient at.

7. A method for constructing a combined artificial Lorentz force and obstacle avoidance control induced by an artificial potential field according to claim 6, characterized in that The said point to the basic geometric unit distance at the point The gradient calculation formula is as follows: (8) Among them, is the known point on the basic geometric unit nearest neighbor point coordinates; is the coordinates of the known point , and the point P is the current position of the robot.

8. The combined artificial Lorentz force structure induced by artificial potential field and obstacle avoidance control method according to any one of claims 1-7, characterized in that The motion control law of the robot is: (10) Among them, is the position feedback coefficient, is the speed feedback coefficient, is the expected position of the robot, is the current position coordinates of the robot, is the speed of the robot, is the obstacle repulsion term of the robot.

9. A method for constructing a combined artificial Lorentz force induced by an artificial potential field and obstacle avoidance control according to claim 8, characterized in that The calculation formula for the obstacle repulsion term of the robot is: Among them, is the value of the obstacle repulsive potential field of formula (6) at position.

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