33 results about "Dynamic window approach" patented technology

The invention relates to the field of autonomous navigation of unmanned boats, and in particular, to a layered obstacle avoidance method for unmanned boats based on improved fruit fly optimization and dynamic window methods. The invention includes: step S1: establishing a geographical environment model for maritime navigation of unmanned boats based on electronic charts; step S2: using an improved fruit fly optimization algorithm to complete global optimal path planning; step S3: establishing an environmental model of dynamic obstacles; Step S4: Use the improved dynamic window method to avoid moving obstacle ships. The present invention provides an obstacle avoidance method that switches between dynamic and static obstacle avoidance modes based on judgment conditions, which can effectively avoid obstacles during navigation, avoid the algorithm from falling into the local optimal solution, and adopt fuzzy control methods to determine the optimal trajectory. The weight parameters are dynamically controlled to improve the accuracy and efficiency of trajectory prediction.

The invention discloses a multi-AUV self-adaptive target searching and obstacle avoidance method oriented to an unknown environment, and the method is suitable for multi-AUV target searching under anunknown complex underwater environment. The method is mainly divided into three modes including a target mode, a non-target mode, and an obstacle avoidance mode. In the target mode, the self-adaptivesearching is achieved through dynamic real-time prediction according to the target information for sensing the outside; in the non-target mode, full-area coverage searching and collaborative planningtasks are achieved through a sub-area strategy; and in the obstacle avoidance mode, the barrier threat is avoided in real time based on the improved dynamic window method. According to different underwater environment information, a multi-AUV target searching task is executed through alternate mode switching among the three modes, and the uncertain information under the unknown water can be dealtwith, the credible interval of the target state information is guaranteed, and environment adaptability and searching efficiency are achieved.

The present disclosure provides a robot movement method, device, electronic equipment, and storage medium used in an unknown environment, which are applied in the field of robotics, including: determining a set of passable gaps around the robot; based on the current orientation of the robot and the robot Select the target gap from the set of passable gaps toward the angle between the end directions; calculate the expected motion direction according to the target gap; use the dynamic window method to make the robot move along the desired motion direction. Make the robot move along the edge of the obstacle, make the robot be guided by the obstacle, and get rid of the local minimum.

The invention provides a dynamic environment obstacle avoidance method, a controller and a robot. The dynamic environment obstacle avoidance method comprises the steps of calculating a resultant forcesuffered by the robot at the current position, simulating next position points in multiple directions of the resultant force suffered by the robot at the current position based on a dynamic window method, determining the position point with the minimum resultant force from the next position points as a next movement position point of the robot, constructing a local map of the robot, controlling the robot to start dynamic obstacle avoidance if a dynamic obstacle enters the local map of the robot, or else, allowing the robot to move to the next position point till a target point is reached.

The invention discloses a robot, its navigation method, and a computer-readable storage medium. The method includes the steps of: acquiring the target position information of the robot and the two-dimensional point distribution of its current direction; distribution, determine the multidimensional eigenvalue s of the robot; according to the determined multidimensional eigenvalue s of the robot and the θ value obtained by the machine learning method, use the model a=f(s,θ) to calculate the control signal a of the robot; according to the calculated The control signal a of the robot realizes the navigation of the robot. The robot, its navigation method, and computer-readable storage medium disclosed in the present invention use the model a=f(s,θ) to calculate the control signal a of the robot by using the value of θ obtained by the machine learning method, and then realize the navigation of the robot; compared with the current State-of-the-art local navigation algorithms such as DWA (Dynamic Window Approach) and TEB (Timed Elastic Band) can effectively solve the problem of robot local navigation, and the method runs smoothly and has improved efficiency compared with existing algorithms.

Provided is an obstacle avoiding method based on a dynamic window and virtual target points. A robot is guided by virtual target points to advance, and a motion instruction of the robot is issued through a dynamic window, and thus, the robot can avoid an obstacle to reach a target point. First, a robot predicts the motion track of an obstacle according to the angle and distance information of theobstacle fed back by a sensor on the robot; then, multiple virtual target points are generated according to the track prediction of the obstacle, the motion state of the robot and the position of a real target point, and an optimal virtual target is screened out by considering the direction of the robot and the distance between the virtual target points and the real target point through an evaluation function; and finally, the robot generates a control instruction set of the robot for the next moment through a dynamic window approach according to the track prediction of the obstacle and the positions of the virtual target points, and screens out an optimal control instruction of the robot for the next moment by considering the direction and motion speed of the robot and the distance between the robot and the target point through an evaluation function.

The invention provides a pedestrian following system and method based on UWB and laser radar hybrid positioning. The method is characterized in that by carrying out initial positioning and identification on a pedestrian through UWB, and then, carrying out accurate positioning and identification on the pedestrian through laser radar, effective obstacle avoidance is achieved, and accurate tracking and positioning of the pedestrian under a complex environment are met; obstacle avoidance is realized through a dynamic window method, so that precision is higher; and movement of a robot is subjectedto filtering processing through Kalman filtering, so that stability is higher.