Collaborative navigation and obstacle avoidance method, device, equipment and medium

Abstract

According to the collaborative navigation and obstacle avoidance method and device, the equipment and the medium provided by the embodiment of the invention, the communication relationship among the individuals included in the target cluster, the tag identifiers of the individuals included in the target cluster, the state information of the individuals included in the target group, the preset individual spacing and the preset communication radius are calculated according to the communication relationship among the individuals included in the target cluster; determining a control component of each individual in the target cluster; determining an obstacle avoidance component of each individual in the target group according to the state information of the individuals included in the target group and the state information of the target obstacle; determining a navigation component of each individual in the target group according to the state information of the individuals included in the target group and the target navigation position information; and navigating each individual to the target navigation position information according to the control component, the obstacle avoidance component and the navigation component of each individual in the target group. When individuals with different motion capabilities exist in the cluster, a subgroup formed by the same type of individuals is not disturbed by other types of individuals, and the overall navigation and obstacle avoidance task is completed.

Description

Technical Field

[0001] The present invention relates to the field of computer technology and related technical fields, and in particular to a collaborative navigation and obstacle avoidance method, device, equipment and medium. Background Art

[0002] Collaborative control is one of the key technologies for the emergence of intelligence in unmanned swarm systems and a core research area of ​​swarm intelligence, mainly targeting specific tasks such as swarm formation, anti-collision and collision avoidance.

[0003] In the prior art, the commonly used method is mainly the collaborative navigation and obstacle avoidance method based on Reynolds' three principles (hereinafter referred to as the "three principles algorithm"). This algorithm is based on artificial potential field function and consistency principle, and embodies the Reynolds' three principles of cluster motion (aggregation, separation, alignment), which can be applied to the collaborative formation, obstacle avoidance and navigation of clusters to a certain extent.

[0004] However, the three-principle algorithm is only applicable to large-scale homogeneous clusters and has certain limitations. For example, when the task requires the existence of multiple types of individuals with different motor abilities and sensor performance in the cluster, and it is necessary to keep the subgroups composed of individuals of the same type from being disrupted by individuals of other types, the simple three-principle algorithm cannot achieve this function. Summary of the invention

[0005] The embodiments described herein provide a collaborative navigation and obstacle avoidance method, apparatus, device, and medium to solve the problems existing in the prior art.

[0006] In a first aspect, according to the content of the present disclosure, a collaborative navigation and obstacle avoidance method is provided, comprising:

[0007] Acquire the communication relationship between individuals included in the target cluster, the tag identification of individuals included in the target cluster, the status information of individuals included in the target group, the status information of the target obstacle, the preset individual spacing, the preset communication radius and the target navigation position information, wherein the status information of the individuals includes the position information and speed information of the individuals, and the status information of the target obstacle includes the position information and speed information of the target obstacle;

[0008] Determine the control component of each individual in the target cluster according to the communication relationship between the individuals included in the target cluster, the label identification of the individuals included in the target cluster, the status information of the individuals included in the target group, the preset individual distance and the preset communication radius;

[0009] Determining an obstacle avoidance component for each individual in the target group according to status information of the individuals included in the target group, status information of the target obstacle, and a preset communication radius;

[0010] Determining the navigation component of each individual in the target group according to the status information of the individuals included in the target group and the target navigation position information;

[0011] According to the control component, obstacle avoidance component and navigation component of each individual in the target group, each individual is navigated to the target navigation position information.

[0012] In some embodiments of the present disclosure, determining the control component of each individual in the target cluster according to the communication relationship between individuals included in the target cluster, the label identification of the individuals included in the target cluster, the status information of the individuals included in the target group, the preset individual distance and the preset communication radius includes:

[0013] Determining, based on the communication relationships between individuals included in the target cluster, associated individuals that have a communication relationship with the target individual;

[0014] According to the label identifiers of the individuals included in the target cluster, determining from the associated individuals a first type of associated individuals that have the same type of label identifier as the target individual, and a second type of associated individuals that do not have the same type of label identifier as the target individual;

[0015] The control component of the target individual is determined according to the state information of the target individual, the state information of the first type of associated individuals, the state information of the second type of associated individuals, the preset individual distance, and the preset communication radius.

[0016] In some embodiments of the present disclosure, determining the control component of the target individual according to the state information of the target individual, the state information of the first type of associated individuals, the state information of the second type of associated individuals, the preset individual distance, and the preset communication radius includes:

[0017] Determine a first control component of the target individual according to the location information of the target individual, the location information of the first type of associated individuals, the location information of the second type of associated individuals, the preset individual distance, and the preset communication radius;

[0018] determining a second control component of the target individual according to the speed information of the target individual and the speed information of the first type of associated individuals;

[0019] The first control component and the second control component are summed to obtain the control component of the target individual.

[0020] In some embodiments of the present disclosure, determining the obstacle avoidance component of each individual in the target group according to the status information of the individuals included in the target group, the status information of the target obstacle, and the preset communication radius includes:

[0021] Determine, according to the position information of the target individuals included in the target group and the position information of the target obstacles, the target position information corresponding to the target obstacle point closest to the target individuals in the target obstacles;

[0022] Determining the moving direction of the target individual according to the target position information corresponding to the target obstacle point;

[0023] The obstacle avoidance component of the target individual in the target group is determined according to the moving direction of the target individual, the position information of the target individuals included in the target group, the position information of the target obstacle, and a preset communication radius.

[0024] In some embodiments of the present disclosure, the method further includes:

[0025] Determine the status information of the target obstacle.

[0026] In some embodiments of the present disclosure, determining the navigation component of each individual in the target group according to the status information of the individuals included in the target group and the target navigation position information includes:

[0027] The navigation component of the target individual in the target group is determined according to the position information, speed information and the target navigation position information of the target individual included in the target group.

[0028] In some embodiments of the present disclosure, navigating each individual in the target group to the target navigation position information according to the control component, obstacle avoidance component and navigation component of each individual in the target group includes:

[0029] The control component, obstacle avoidance component and navigation component of the target individual in the target group are summed to obtain the target control component of each target individual in the target group;

[0030] The target individuals are navigated based on the target control component to navigate each target individual to the target navigation position information.

[0031] In a second aspect, according to the present disclosure, a collaborative navigation and obstacle avoidance device is provided, comprising:

[0032] An information acquisition module, used to acquire communication relationships between individuals included in the target cluster, label identifiers of individuals included in the target cluster, status information of individuals included in the target group, status information of target obstacles, preset individual spacing, preset communication radius, and target navigation position information, wherein the status information of individuals includes the position information and speed information of individuals, and the status information of target obstacles includes the position information and speed information of target obstacles;

[0033] A control component determination module, used to determine the control component of each individual in the target cluster according to the communication relationship between the individuals included in the target cluster, the label identification of the individuals included in the target cluster, the status information of the individuals included in the target group, the preset individual distance and the preset communication radius;

[0034] An obstacle avoidance component determination module, configured to determine an obstacle avoidance component for each individual in the target group according to status information of the individuals included in the target group, status information of the target obstacle, and a preset communication radius;

[0035] A navigation component determination module, used to determine the navigation component of each individual in the target group according to the status information of the individuals included in the target group and the target navigation position information;

[0036] The navigation module is used to navigate each individual in the target group to the target navigation position information according to the control component, obstacle avoidance component and navigation component of each individual in the target group.

[0037] In a third aspect, according to the present disclosure, there is provided a computer device, including:

[0038] one or more processors;

[0039] a storage device for storing one or more programs,

[0040] When the one or more programs are executed by the one or more processors, the one or more processors implement any method as described in the first aspect.

[0041] In a fourth aspect, according to the present disclosure, there is provided a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the method described in any one of the first aspects is implemented.

[0042] The collaborative navigation and obstacle avoidance method, device, equipment and medium provided by the embodiment of the present disclosure first obtain the communication relationship between individuals included in the target cluster, the label identification of individuals included in the target cluster, the status information of individuals included in the target group, the status information of target obstacles, the preset individual spacing, the preset communication radius and the target navigation position information; then determine the control component of each individual in the target cluster according to the communication relationship between individuals included in the target cluster, the label identification of individuals included in the target cluster, the status information of individuals included in the target group, the preset individual spacing and the preset communication radius; and determine the obstacle avoidance component of each individual in the target group according to the status information of individuals included in the target group and the status information of target obstacles; and determine the navigation component of each individual in the target group according to the status information of individuals included in the target group and the target navigation position information; finally, navigate each individual to the target navigation position information according to the control component, obstacle avoidance component and navigation component of each individual in the target group. When there are multiple types of individuals with different motion capabilities and sensor performance in the target cluster, the subgroup composed of individuals of the same type is kept from being disrupted by individuals of other types based on the control component, and the overall navigation and obstacle avoidance task is completed based on the obstacle avoidance component and the navigation component.

[0043] The above description is only an overview of the technical solution of the embodiment of the present application. In order to more clearly understand the technical means of the embodiment of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the embodiment of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings of the embodiments will be briefly described below. It should be noted that the drawings described below only relate to some embodiments of the present disclosure, but are not intended to limit the present disclosure, wherein:

[0045] Figure 1 is a flowchart of a collaborative navigation and obstacle avoidance method provided by an embodiment of the present disclosure;

[0046] Figure 2 is a structural schematic diagram of a collaborative navigation and obstacle avoidance device provided by an embodiment of the present disclosure;

[0047] Figure 3 It is a structural diagram of a computer device provided in an embodiment of the present disclosure.

[0048] In the drawings, reference numerals with the same last two digits correspond to the same elements. It should be noted that the elements in the drawings are schematic and not drawn to scale. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical solution and advantages of the embodiments of the present disclosure clearer, the technical solution of the embodiments of the present disclosure will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present disclosure, rather than all of the embodiments. Based on the described embodiments of the present disclosure, all other embodiments obtained by those skilled in the art without creative work also fall within the scope of protection of the present disclosure.

[0050] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by a person skilled in the art to which the subject matter of the present disclosure belongs. It will be further understood that terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the specification and the relevant art, and will not be interpreted in an idealized or overly formal form unless otherwise explicitly defined herein. As used herein, a statement that two or more parts are "connected" or "coupled" together shall mean that the parts are joined together directly or through one or more intermediate components.

[0051] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase "embodiments" in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0052] The term "and / or" in this article is only a description of the association relationship of the associated objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists, A and B exist at the same time, and B exists. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0053] Furthermore, in all embodiments of the present disclosure, terms such as “first” and “second” are used only to distinguish one component (or a part of a component) from another component (or another part of a component).

[0054] In the description of the present application, unless otherwise specified, "plurality" means more than two (including two), and similarly, "multiple groups" means more than two groups (including two).

[0055] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings.

[0056] Based on the problems existing in the prior art, the present disclosure provides a collaborative navigation and obstacle avoidance method. Figure 1 is a flow chart of the collaborative navigation and obstacle avoidance method provided by the embodiment of the present disclosure, such as Figure 1 As shown, the collaborative navigation and obstacle avoidance method includes:

[0057] S110, obtaining the communication relationship between individuals included in the target cluster, the tag identification of individuals included in the target cluster, the status information of individuals included in the target group, the status information of the target obstacle, the preset individual distance, the preset communication radius and the target navigation position information.

[0058] The state information of the individual includes the position information and speed information of the individual, and the state information of the target obstacle includes the position information and speed information of the target obstacle.

[0059] In a specific implementation, the target cluster includes N individuals, where N is an integer greater than 1. When the distance between any two individuals is less than or equal to a preset communication radius, there is a communication relationship between the two individuals. When the distance between any two individuals is greater than the preset communication radius, there is no communication relationship between the two individuals.

[0060] In a specific implementation, the individuals included in the target cluster all include a label identifier, which is used to identify which category the individual belongs to. The individuals in the target cluster can be classified by the label identifier corresponding to each individual, and different types of individuals have different corresponding athletic abilities.

[0061] In a specific implementation, the preset individual distance is used to restrict individuals belonging to the same category during movement. Specifically, when the distance between two individuals belonging to the same category during movement is greater than the preset individual distance, the two individuals are gathered together; when the distance between two individuals belonging to the same category during movement is less than the preset individual distance, the two individuals are excluded.

[0062] S120, determining the control component of each individual in the target cluster according to the communication relationship between individuals included in the target cluster, the label identification of individuals included in the target cluster, the status information of individuals included in the target group, the preset individual distance and the preset communication radius.

[0063] As a specific implementation manner, the control component of each individual in the target cluster is determined according to the communication relationship between the individuals included in the target cluster, the label identification of the individuals included in the target cluster, the status information of the individuals included in the target group, the preset individual distance and the preset communication radius, including: determining the associated individuals that have a communication relationship with the target individual according to the communication relationship between the individuals included in the target cluster; determining the first type of associated individuals that belong to the same type of label identification as the target individual, and the second type of associated individuals that do not belong to the same type of label identification as the target individual from the associated individuals according to the label identification of the individuals included in the target cluster; determining the control component of the target individual according to the status information of the target individual, the status information of the first type of associated individuals, the status information of the second type of associated individuals, the preset individual distance and the preset communication radius.

[0064] Specifically, if individual i is selected as the target individual, at this time, first, based on the communication relationship between the individuals included in the target group, the associated individuals that have a communication relationship with the target individual i are determined. Exemplarily, the associated individuals that have a communication relationship with the target individual i include: individual 1, individual 2, individual 3, individual 4, individual j, individual j+1, j is an integer less than N. After determining the associated individuals, based on the label identifiers corresponding to each associated individual, the individuals with the same label identifier as the target individual i are selected from the associated individuals as the first type of associated individuals, and the individuals with different label identifiers from the target individual i are selected from the associated individuals as the second type of associated individuals. Finally, based on the state information of the target individual, the state information of the first type of associated individuals, the state information of the second type of associated individuals, the preset individual spacing and the preset communication radius, the control component of the target individual is determined.

[0065] In a specific implementation, the control component of the target individual is determined based on the status information of the target individual, the status information of the first type of associated individuals, the status information of the second type of associated individuals, the preset individual distance and the preset communication radius, including: determining the first control component of the target individual based on the position information of the target individual, the position information of the first type of associated individuals, the position information of the second type of associated individuals, the preset individual distance and the preset communication radius; determining the second control component of the target individual based on the speed information of the target individual and the speed information of the first type of associated individuals; and summing the first control component and the second control component to obtain the control component of the target individual.

[0066] Specifically, use Determine the similarities and differences between the types of individuals within the target cluster. For example, if the label identifier of individual i is the same as the label identifier of individual j, it means that individual j and individual i belong to the same type of individual. If the label of individual i is different from the label of individual j, it means that individual j and individual i do not belong to the same category of individuals.

[0067] Specifically, in an exemplary embodiment, the target individual is individual i, and the position information and speed information of individual i are p i and v i , among the associated individuals that have a communication relationship with the target individual, the position information and speed information of individual j satisfies p j and v j , the control component of individual i constructed satisfies:

[0068]

[0069] Among them, n ij ,φ α (z),φ′ α (z),φ(z), Satisfy the following formulas respectively:

[0070]

[0071]

[0072]

[0073]

[0074]

[0075]

[0076]

[0077]

[0078]

[0079] In the above formula, ε、h α 、h β , a, b, c are constants, r c is the preset communication radius, d is the preset individual distance,

[0080] In the above formula, the repulsion and aggregation between the first type of associated individuals in the target cluster that belong to the same type of label as the target individual i and the target individual i are related to φ α (||p j -p i || σ), when the distance between any individual j in the first category of associated individuals and the target individual i is less than the preset individual distance, individual j will move away from individual i; when the distance between any individual j in the first category of associated individuals and the target individual i is greater than the preset individual distance, individual j will move closer to individual i. The repulsion and aggregation between the second category of associated individuals in the target cluster that do not belong to the same category of label identification as the target individual i and the target individual i is related to φ′ α (||p j -p i || σ )related.

[0081] In addition, the control component is the speed correspondence between different individuals, The speed of the first type of associated individuals that belong to the same label as the target individual is aligned.

[0082] Exemplarily, if the first type of associated individuals with the same label identification as the target individual i include: individual 1, individual 3 and individual j, the second type of associated individuals with the same label identification as the target individual i include: individual 2, individual 4 and individual j+1.

[0083] Since individuals 1, 3, and j belong to the same label category as the target individual i, and individuals 2, 4, and j+1 do not belong to the same label category as the target individual i, therefore, in the above formula, when j = 1, 3, or j, is equal to 1, when j = 2, 4 or j + 1, is equal to 0, and according to the location information of the target individual, the location information of the first type of associated individuals, the location information of the second type of associated individuals, the preset individual spacing and the preset communication radius, it is determined that the first control component of the target individual satisfies: In addition, since individuals 1, 3, and j belong to the same type of label identification as the target individual i, according to the speed information of the target individual and the speed information of the first type of associated individuals, it is determined that the second control component of the target individual satisfies: Finally, the control component of the target individual is obtained by summing the first control component and the second control component.

[0084] S130, determining an obstacle avoidance component for each individual in the target group according to status information of the individuals included in the target group, status information of the target obstacle, and a preset communication radius.

[0085] In a specific implementation, the obstacle avoidance component of each individual in the target group is determined based on the status information of the individuals included in the target group, the status information of the target obstacle, and a preset communication radius, including: determining the target position information corresponding to the target obstacle point closest to the target individual in the target obstacle based on the position information of the target individuals included in the target group and the position information of the target obstacle; determining the movement direction of the target individual based on the target position information corresponding to the target obstacle point; determining the obstacle avoidance component of the target individual in the target group based on the movement direction of the target individual, the position information of the target individuals included in the target group, the position information of the target obstacle, and the preset communication radius.

[0086] Specifically, by obtaining the position information of the target obstacle and the target individual, the target obstacle point closest to the target individual in the target obstacle is determined, and the tangent direction of the target obstacle point is selected as the movement direction of the target individual to achieve obstacle avoidance of the target individual. Different individuals determine their movement directions in this way, thereby achieving obstacle avoidance of the target cluster.

[0087] Specifically, the obstacle avoidance component constructed satisfies:

[0088]

[0089] in, ε is a constant, and is the position information and velocity information of the target obstacle, p i and v i is the position information and speed information of individual i, where b i,k (p), φ β (z) satisfies the following formula:

[0090]

[0091]

[0092] φ β (z) = ρ hβ (z / ||d s || σ )(σ1(z-||d s || σ )-1)

[0093] In addition, before executing step S130, the method further includes: determining the state information of the target obstacle.

[0094] Specifically, if the target obstacle is an obstacle with a hyperplane boundary (such as a wall), its normal vector is a k , and through the point yk , then the location information and speed calculation method of the target obstacle are as shown in the following formula:

[0095]

[0096] in, is a projection matrix and I is an identity matrix.

[0097] For a circle with center y k , with a radius of R k The circular obstacle, the location information and speed calculation method of the target obstacle are shown in the following formula:

[0098]

[0099] Where μ = R k / ||p i -y k ||, a k =(p i -y k ) / ||p i -y k ||,

[0100] S140: Determine the navigation component of each individual in the target group according to the status information of the individuals included in the target group and the target navigation position information.

[0101] In a specific implementation, the navigation component of the target individual in the target group is determined according to the position information, speed information and target navigation position information of the target individual included in the target group.

[0102] Among them, the navigation component of the target individual satisfies:

[0103]

[0104] in, is a constant, Provides target navigation location information.

[0105] S150, navigating each individual in the target group to the target navigation position information according to the control component, obstacle avoidance component and navigation component of each individual in the target group.

[0106] In a specific implementation, each individual in the target group is navigated to the target navigation position information based on the control component, obstacle avoidance component and navigation component of each individual in the target group, including: summing the control component, obstacle avoidance component and navigation component of the target individuals in the target group to determine the target control component of each target individual in the target group; navigating the target individuals based on the target control component to navigate each target individual to the target navigation position information.

[0107] After determining the control component, obstacle avoidance component and navigation component of target individual i, the control component, obstacle avoidance component and navigation component of target individual i are summed to obtain the target control component of target individual i. Similarly, the target control component of each individual in the target group is obtained, and then each individual is controlled based on its corresponding target control component to achieve the movement of each individual to the target navigation position information.

[0108] In the collaborative navigation and obstacle avoidance method provided by the embodiment of the present disclosure, the communication relationship between the individuals included in the target cluster, the label identification of the individuals included in the target cluster, the status information of the individuals included in the target group, the status information of the target obstacle, the preset individual distance, the preset communication radius and the target navigation position information are first obtained; then, the control component of each individual in the target cluster is determined according to the communication relationship between the individuals included in the target cluster, the label identification of the individuals included in the target cluster, the status information of the individuals included in the target group, the preset individual distance and the preset communication radius; and the obstacle avoidance component of each individual in the target group is determined according to the status information of the individuals included in the target group and the status information of the target obstacle; and the navigation component of each individual in the target group is determined according to the status information of the individuals included in the target group and the target navigation position information; finally, each individual is navigated to the target navigation position information according to the control component, the obstacle avoidance component and the navigation component of each individual in the target group. When there are multiple types of individuals with different motion capabilities and sensor performance in the target cluster, the subgroup composed of individuals of the same type is kept from being disrupted by individuals of other types based on the control component, and the overall navigation and obstacle avoidance task is completed based on the obstacle avoidance component and the navigation component.

[0109] Based on the above embodiments, the present disclosure also provides a collaborative navigation and obstacle avoidance device. Figure 2 is a schematic diagram of the structure of the collaborative navigation and obstacle avoidance device provided in an embodiment of the present disclosure, such as Figure 2 As shown, the collaborative navigation and obstacle avoidance device comprises:

[0110] The information acquisition module 210 is used to acquire the communication relationship between individuals included in the target cluster, the tag identification of individuals included in the target cluster, the status information of individuals included in the target group, the status information of the target obstacle, the preset individual spacing, the preset communication radius and the target navigation position information, wherein the status information of the individual includes the position information and speed information of the individual, and the status information of the target obstacle includes the position information and speed information of the target obstacle;

[0111] A control component determination module 220 is used to determine the control component of each individual in the target cluster according to the communication relationship between the individuals included in the target cluster, the label identification of the individuals included in the target cluster, the status information of the individuals included in the target group, the preset individual distance and the preset communication radius;

[0112] The obstacle avoidance component determination module 230 is used to determine the obstacle avoidance component of each individual in the target group according to the status information of the individuals included in the target group, the status information of the target obstacle and the preset communication radius;

[0113] A navigation component determination module 240 is used to determine the navigation component of each individual in the target group according to the status information of the individuals included in the target group and the target navigation position information;

[0114] The navigation module 250 is used to navigate each individual in the target group to the target navigation position information according to the control component, obstacle avoidance component and navigation component of each individual in the target group.

[0115] In the collaborative navigation and obstacle avoidance device provided by the embodiment of the present disclosure, the communication relationship between the individuals included in the target cluster, the label identification of the individuals included in the target cluster, the status information of the individuals included in the target group, the status information of the target obstacle, the preset individual distance, the preset communication radius and the target navigation position information are first obtained; then, according to the communication relationship between the individuals included in the target cluster, the label identification of the individuals included in the target cluster, the status information of the individuals included in the target group, the preset individual distance and the preset communication radius, the control component of each individual in the target cluster is determined; and according to the status information of the individuals included in the target group and the status information of the target obstacle, the obstacle avoidance component of each individual in the target group is determined; and according to the status information of the individuals included in the target group and the target navigation position information, the navigation component of each individual in the target group is determined; finally, according to the control component, obstacle avoidance component and navigation component of each individual in the target group, each individual is navigated to the target navigation position information. When there are multiple types of individuals with different motion capabilities and sensor performance in the target cluster, the subgroup composed of individuals of the same type is kept from being disrupted by individuals of other types based on the control component, and the overall navigation and obstacle avoidance task is completed based on the obstacle avoidance component and the navigation component.

[0116] In a specific implementation, the control component of each individual in the target cluster is determined according to the communication relationship between the individuals included in the target cluster, the label identification of the individuals included in the target cluster, the status information of the individuals included in the target group, the preset individual distance and the preset communication radius, including:

[0117] Determine, based on the communication relationship between individuals included in the target cluster, associated individuals that have a communication relationship with the target individual;

[0118] According to the label identifiers of the individuals included in the target cluster, determine from the associated individuals a first type of associated individuals that have the same type of label identifier as the target individual, and a second type of associated individuals that do not have the same type of label identifier as the target individual;

[0119] The control component of the target individual is determined according to the state information of the target individual, the state information of the first type of associated individuals, the state information of the second type of associated individuals, the preset individual distance and the preset communication radius.

[0120] In a specific implementation, determining the control component of the target individual according to the state information of the target individual, the state information of the first type of associated individuals, the state information of the second type of associated individuals, the preset individual distance, and the preset communication radius includes:

[0121] Determine a first control component of the target individual according to the location information of the target individual, the location information of the first type of associated individuals, the location information of the second type of associated individuals, a preset individual distance, and a preset communication radius;

[0122] Determining a second control component of the target individual according to the speed information of the target individual and the speed information of the first type of associated individuals;

[0123] The first control component and the second control component are summed to obtain the control component of the target individual.

[0124] In a specific implementation, determining the obstacle avoidance component of each individual in the target group according to the status information of the individuals included in the target group and the status information of the target obstacle includes:

[0125] Determine the target position information corresponding to the target obstacle point closest to the target individual in the target obstacle according to the position information of the target individual included in the target group and the position information of the target obstacle;

[0126] Determine the movement direction of the target individual according to the target object position information corresponding to the target obstacle point;

[0127] According to the moving direction of the target individual, the position information of the target individuals included in the target group and the position information of the target obstacles, the obstacle avoidance component of the target individuals in the target group is determined.

[0128] In a specific embodiment, it also includes:

[0129] Determine the status information of the target obstacle.

[0130] In a specific implementation, determining the navigation component of each individual in the target group according to the status information of the individuals included in the target group and the target navigation position information includes:

[0131] The navigation component of the target individual in the target group is determined according to the position information, speed information and target navigation position information of the target individual included in the target group.

[0132] In a specific implementation, navigating each individual to the target navigation position information according to the control component, obstacle avoidance component and navigation component of each individual in the target group includes:

[0133] The control component, obstacle avoidance component and navigation component of the target individual in the target group are summed to obtain the target control component of each target individual in the target group;

[0134] The target individuals are navigated based on the target control component to navigate each target individual to the target navigation position information.

[0135] The present application also provides a computer device. Figure 3 , Figure 3 This is a basic structural block diagram of the computer device in this embodiment.

[0136] The computer device includes a memory 510 and a processor 520 that are connected to each other through a system bus. It should be noted that the figure only shows a computer device with components 510-520, but it should be understood that it is not required to implement all the components shown, and more or fewer components can be implemented instead. Among them, those skilled in the art can understand that the computer device here is a device that can automatically perform numerical calculations and / or information processing according to pre-set or stored instructions, and its hardware includes but is not limited to microprocessors, application specific integrated circuits (Application Specific Integrated Circuit, ASIC), programmable gate arrays (Field-Programmable Gate Array, FPGA), digital processors (Digital Signal Processor, DSP), embedded devices, etc.

[0137] Computer devices can be computing devices such as desktop computers, notebooks, PDAs, and cloud servers. Computer devices can interact with users through keyboards, mice, remote controls, touch pads, or voice control devices.

[0138] The memory 510 includes at least one type of readable storage medium, and the readable storage medium includes a non-volatile memory or a volatile memory, such as a flash memory, a hard disk, a multimedia card, a card-type memory (e.g., SD or DX memory, etc.), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a programmable read-only memory (PROM), a magnetic memory, a magnetic disk, an optical disk, etc., and the RAM may include a static RAM or a dynamic RAM. In some embodiments, the memory 510 may be an internal storage unit of a computer device, such as a hard disk or a memory of the computer device. In other embodiments, the memory 510 may also be an external storage device of a computer device, such as a plug-in hard disk, a smart memory card (SMC), a secure digital (SD) card, or a flash card (Flash Card), etc., equipped on the computer device. Of course, the memory 510 may also include both an internal storage unit of the computer device and an external storage device thereof. In this embodiment, the memory 510 is generally used to store an operating system and various application software installed on the computer device, such as the program code of the above method, etc. In addition, the memory 510 may also be used to temporarily store various data that have been output or are to be output.

[0139] The processor 520 is generally used to perform the overall operation of the computer device. In this embodiment, the memory 510 is used to store program codes or instructions, the program code includes computer operation instructions, and the processor 520 is used to execute the program codes or instructions stored in the memory 510 or process data, such as running the program code of the above method.

[0140] In this article, the bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus system can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0141] Another embodiment of the present application also provides a computer-readable medium, which may be a computer-readable signal medium or a computer-readable medium. A processor in a computer reads a computer-readable program code stored in the computer-readable medium, so that the processor can execute the functional actions specified in each step or a combination of steps in the above method; and generate a device for implementing the functional actions specified in each block or a combination of blocks in the block diagram.

[0142] Computer-readable media include but are not limited to electronic, magnetic, optical, electromagnetic, infrared memory or semiconductor systems, devices or apparatuses, or any appropriate combination of the foregoing, the memory is used to store program codes or instructions, the program codes include computer operating instructions, and the processor is used to execute the program codes or instructions of the above methods stored in the memory.

[0143] For the definitions of memory and processor, please refer to the description of the aforementioned computer device embodiment and will not be repeated here.

[0144] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0145] Each functional unit or module in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0146] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) or a processor (processor) to perform all or part of the steps of each embodiment method of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), disk or optical disk and other media that can store program code.

[0147] Unless the context clearly indicates otherwise, the singular form of the words used herein and in the appended claims includes the plural and vice versa. Thus, when referring to the singular, the plural form of the corresponding term is generally included. Similarly, the words "comprise" and "include" are to be interpreted as inclusive rather than exclusive. Likewise, the terms "include" and "or" should be interpreted as inclusive unless such interpretation is expressly prohibited herein. Where the term "example" is used herein, particularly when it is located after a group of terms, the "example" is merely exemplary and illustrative and should not be considered exclusive or comprehensive.

[0148] Further aspects and scopes of adaptability become apparent from the description provided herein. It should be understood that various aspects of the present application can be implemented individually or in combination with one or more other aspects. It should also be understood that the description and specific embodiments herein are intended for purposes of illustration only and are not intended to limit the scope of the present application.

[0149] Several embodiments of the present disclosure are described in detail above, but it is obvious that those skilled in the art can make various modifications and variations to the embodiments of the present disclosure without departing from the spirit and scope of the present disclosure. The protection scope of the present disclosure is defined by the attached claims.

Claims

1. A collaborative navigation and obstacle avoidance method, characterized in that: include: Acquire the communication relationship between individuals included in the target cluster, the tag identification of individuals included in the target cluster, the status information of individuals included in the target group, the status information of the target obstacle, the preset individual spacing, the preset communication radius and the target navigation position information, wherein the status information of the individuals includes the position information and speed information of the individuals, and the status information of the target obstacle includes the position information and speed information of the target obstacle; Determine the control component of each individual in the target cluster according to the communication relationship between the individuals included in the target cluster, the label identification of the individuals included in the target cluster, the status information of the individuals included in the target group, the preset individual distance and the preset communication radius; Determining an obstacle avoidance component for each individual in the target group according to status information of the individuals included in the target group, status information of the target obstacle, and a preset communication radius; Determining the navigation component of each individual in the target group according to the status information of the individuals included in the target group and the target navigation position information; According to the control component, obstacle avoidance component and navigation component of each individual in the target group, each individual is navigated to the target navigation position information.

2. The method according to claim 1, characterized in that The step of determining the control component of each individual in the target cluster according to the communication relationship between individuals included in the target cluster, the label identifications of the individuals included in the target cluster, the status information of the individuals included in the target group, the preset individual distance and the preset communication radius includes: Determining, based on the communication relationships between individuals included in the target cluster, associated individuals that have a communication relationship with the target individual; According to the label identifiers of the individuals included in the target cluster, determining from the associated individuals a first type of associated individuals that have the same type of label identifier as the target individual, and a second type of associated individuals that do not have the same type of label identifier as the target individual; The control component of the target individual is determined according to the state information of the target individual, the state information of the first type of associated individuals, the state information of the second type of associated individuals, the preset individual distance, and the preset communication radius.

3. The method according to claim 2, characterized in that The determining the control component of the target individual according to the state information of the target individual, the state information of the first type of associated individuals, the state information of the second type of associated individuals, the preset individual distance, and the preset communication radius includes: Determine a first control component of the target individual according to the location information of the target individual, the location information of the first type of associated individuals, the location information of the second type of associated individuals, the preset individual distance, and the preset communication radius; determining a second control component of the target individual according to the speed information of the target individual and the speed information of the first type of associated individuals; The first control component and the second control component are summed to obtain the control component of the target individual.

4. The method according to claim 1, characterized in that: The determining, according to the status information of the individuals included in the target group, the status information of the target obstacle and the preset communication radius, the obstacle avoidance component of each individual in the target group comprises: Determine, according to the position information of the target individuals included in the target group and the position information of the target obstacles, the target position information corresponding to the target obstacle point closest to the target individuals in the target obstacles; Determining the moving direction of the target individual according to the target position information corresponding to the target obstacle point; The obstacle avoidance component of the target individual in the target group is determined according to the moving direction of the target individual, the position information of the target individuals included in the target group, the position information of the target obstacle, and a preset communication radius.

5. The method according to claim 1, characterized in that The method further comprises: Determine the status information of the target obstacle.

6. The method according to claim 1, characterized in that The determining, based on the status information of the individuals included in the target group and the target navigation position information, the navigation component of each individual in the target group comprises: The navigation component of the target individual in the target group is determined according to the position information, speed information and the target navigation position information of the target individual included in the target group.

7. The method according to claim 1, characterized in that The step of navigating each individual in the target group to the target navigation position information according to the control component, obstacle avoidance component and navigation component of each individual in the target group includes: The control component, obstacle avoidance component and navigation component of the target individual in the target group are summed to obtain the target control component of each target individual in the target group; The target individuals are navigated based on the target control component to navigate each target individual to the target navigation position information.

8. A collaborative navigation and obstacle avoidance device, characterized in that: include: An information acquisition module, used to acquire communication relationships between individuals included in the target cluster, label identifiers of individuals included in the target cluster, status information of individuals included in the target group, status information of target obstacles, preset individual spacing, preset communication radius, and target navigation position information, wherein the status information of individuals includes the position information and speed information of individuals, and the status information of target obstacles includes the position information and speed information of target obstacles; A control component determination module, used to determine the control component of each individual in the target cluster according to the communication relationship between the individuals included in the target cluster, the label identification of the individuals included in the target cluster, the status information of the individuals included in the target group, the preset individual distance and the preset communication radius; An obstacle avoidance component determination module, configured to determine an obstacle avoidance component for each individual in the target group according to status information of the individuals included in the target group, status information of the target obstacle, and a preset communication radius; A navigation component determination module, used to determine the navigation component of each individual in the target group according to the status information of the individuals included in the target group and the target navigation position information; The navigation module is used to navigate each individual in the target group to the target navigation position information according to the control component, obstacle avoidance component and navigation component of each individual in the target group.

9. A computer device, characterized in that: include: one or more processors; a storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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