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5934 results about "Obstacle avoidance" patented technology
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In robotics, obstacle avoidance is the task of satisfying some control objective subject to non-intersection or non-collision position constraints. In unmanned air vehicles, it is a hot topic. What is critical about obstacle avoidance concept in this area is the growing need of usage of unmanned aerial vehicles in urban areas for especially military applications where it can be very useful in city wars. Normally obstacle avoidance is considered to be distinct from path planning in that one is usually implemented as a reactive control law while the other involves the pre-computation of an obstacle-free path which a controller will then guide a robot along. With recent advanced in the autonomous vehicles sector, a good and dependable obstacle avoidance feature of a driverless platform is also required to have a robust obstacle detection module.
Unified motion planning algorithm for autonomous driving vehicle in obstacle avoidance maneuver
ActiveUS20150353082A1Reduces turning requirementReduced referenceSteering initiationsDigital data processing detailsEngineeringObstacle avoidance
A method for automated lane centering and / or lane changing purposes for a vehicle traveling on a roadway that employs roadway points from a map database to determine a reference vehicle path and sensors on the vehicle for detecting static and moving objects to adjust the reference path. The method includes reducing the curvature of the reference path to generate a reduced curvature reference path that reduces the turning requirements of the vehicle and setting the speed of the vehicle from posted roadway speeds from the map database. The method also includes providing multiple candidate vehicle paths and vehicle speeds to avoid the static and moving objects in front of the vehicle.
Owner:CARNEGIE MELLON UNIV +1
Systems and methods for obstacle avoidance
ActiveUS20070193798A1Detect presenceAutonomous decision making processAutomatic initiationsControl systemObstacle avoidance
Embodiments of the invention provide systems and methods for obstacle avoidance. In some embodiments, a robotically controlled vehicle capable of operating in one or more modes may be provided. Examples of such modes include teleoperation, waypoint navigation, follow, and manual mode. The vehicle may include an obstacle detection and avoidance system capable of being implemented with one or more of the vehicle modes. A control system may be provided to operate and control the vehicle in the one or more modes. The control system may include a robotic control unit and a vehicle control unit.
Owner:IROBOT CORP +1
Service robot control platform system and multimode intelligent interaction and intelligent behavior realizing method thereof
InactiveCN102323817AEnhance the ability of intelligent grabbingIntelligent service modeVehicle position/course/altitude controlPosition/direction controlFace detectionEngineering
The invention discloses a service robot control platform system and a multimode intelligent interaction and intelligent behavior realizing method thereof. The service robot control platform system comprises a voice control module, a binocular image acquisition module, an RFID (Radio Frequency Identification Device) receiving and transmitting module, a bottom wheel movement module, an obstacle avoidance module and a mechanical arm control module. The multimode intelligent interaction and intelligent behavior realizing method comprises the following steps of: 1, voice interaction; 2, independent navigation and location; 3, mechanical arm control; and face detection and recognition. According to the invention, a robot carries out intelligent interaction and intelligent behaviors, and the capacity of intelligent grabbing of the robot is enhanced. Except for special person recognition, distinguish of a picture face and an actual face is added, thus the influence to a program by the picture face is effectively eliminated. According to the invention, anthropomorphic mechanical arm grabbing is controlled in a specific anthropomorphic path grabbing manner, so that a service mode of the robot is more intelligent and humanized.
Owner:SHANGHAI UNIV
Wheel type mobile fruit picking robot and fruit picking method
InactiveCN102124866AReduce energy consumptionShorten speedProgramme-controlled manipulatorPicking devicesUltrasonic sensorData acquisition
Owner:NANJING AGRICULTURAL UNIVERSITY
Automatic-navigation crawler-type mobile fruit picking robot and fruit picking method
InactiveCN102165880AFully automated pickingSimple structureProgramme-controlled manipulatorPicking devicesSimulationActuator
The invention discloses an automatic-navigation crawler-type mobile fruit picking robot which comprises a mechanical execution system and a control system and is characterized in that the mechanical execution system comprises an intelligent movable platform, a fruit picking mechanical arm and a two-finger type manipulator, wherein the intelligent movable platform comprises two crawler assemblies, an experimental facility fixing rack, a supporting stand column, a cross beam, a speed reducer and the like; and the control system comprises an industrial personal computer, a motion control card, a data collecting card, an image collecting card, an encoder, a GPS (global position system), a monocular zooming camera assembly, a binocular camera, a laser ranging sensor, a control circuit and the like. The automatic-navigation crawler-type mobile fruit picking robot integrates the fruit picking mechanical arm, the two-finger type manipulator, the intelligent movable platform and the sensor system, integrates multiple key technologies such as fruit identification, motion of the picking mechanical arm, grabbing of a tail-end executer, automatic navigation and obstacle avoidance of the movable platform, and the like, and really realizes automatic and humanized fruit picking.
Owner:NANJING AGRICULTURAL UNIVERSITY
Multi-UAV (unmanned aerial vehicle) dynamic formation control method
ActiveCN102591358AReduced update rate requirementsImprove the effect of obstacle avoidancePosition/course control in three dimensionsCommunication qualityGeomorphology
The invention discloses a multi-UAV (unmanned aerial vehicle) dynamic formation control method, and belongs to the technical field of flight control. The multi-UAV dynamic formation control method includes steps as follows: step 1, a formation keeping method; step 2, an obstacle avoidance method; and step 3, a behavior-based formation process, wherein the behavior-based formation process includes behavior decomposition and control realization. The method solves the defect that the traditional virtual structure manner formation control has higher communication quality requirement; the behavior-based formation control method is introduced to lower the requirement of formation wireless data link update rate and enhances the obstacle avoidance capability of the UAV group formation; and aiming at the defect that the traditional behavior-based manner formation control cannot keep good formation rigidity, a virtual structure is introduced for reference. On the premise of keeping the relatively stable formation, the capability of obstacle and threat avoidance of a microminiature UAV can be enhanced, and the method has a certain reference value for UAV group cooperation low-altitude penetration.
Owner:BEIHANG UNIV
Obstacle avoidance apparatus and obstacle avoidance method
An obstacle detecting unit detects an obstacle for a user wearing a head mounted display from an image of the outside world. A distance calculating unit calculates the distance from a detected obstacle to the user wearing the head mounted display. An obstacle replacing unit replaces the detected obstacle with a virtual object. A virtual object synthesizing unit generates a virtual object at a position within a virtual space displayed on the head mounted display, in which the position is determined according to the distance to the obstacle.
Owner:SONY COMPUTER ENTERTAINMENT INC
Unmanned aerial vehicle obstacle avoidance controlling method
InactiveCN103116360ASimple methodEasy to operatePosition/course control in three dimensionsWireless dataGeolocation
The invention discloses an unmanned aerial vehicle obstacle avoidance controlling method. An unmanned aerial vehicle subsystem and a ground station subsystem are arranged, the unmanned aerial vehicle subsystem comprises an embedded flight controller and an airborne terminal of a wireless data chain, a satellite positioning receiver and a height sensor are arranged in the embedded flight controller, the ground subsystem comprises an embedded monitoring computer and a ground terminal of the wireless data chain, and an electronic map containing geographic information of obstacles is arranged in the embedded monitoring computer. On the electronic map in the embedded monitoring computer of the ground station subsystem, the geographic information of the obstacles in a flight area is determined, virtual obstacle polygonal cylinders are established, shape data of the virtual obstacle polygonal cylinders are downloaded in the embedded flight controller which obtains the current position of the unmanned aerial vehicle and calculates space correlation between the unmanned aerial vehicle and the obstacle polygonal cylinders, track-shifting instruction of the unmanned aerial vehicle is generated, and automatic obstacle avoidance of the unmanned aerial vehicle is realized.
Owner:NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
Unmanned aerial vehicle autonomous obstacle detection system and method based on binocular vision
InactiveCN105222760ARealize the function of effective obstacle avoidanceRealize the function of obstacle avoidanceTransmission systemsPicture taking arrangementsUncrewed vehicleObstacle avoidance
The invention relates to an unmanned aerial vehicle autonomous obstacle detection system and method based on binocular vision. The unmanned aerial vehicle autonomous obstacle detection system and method based on the binocular vision are characterized in that the system comprises a binocular visual system, other sensor modules and a flight control system which are mounted on an unmanned aerial vehicle; the method comprises the steps that the binocular visual system acquires visual information of the flight environment of the unmanned aerial vehicle, and obstacle information is obtained through processing; other sensor units acquire state information of the unmanned aerial vehicle; the flight control system receives the obstacle information and the state information of the unmanned aerial vehicle, establishes a flight path and generates a flight control instruction to send to the unmanned aerial vehicle; the unmanned aerial vehicle flies by avoiding obstacles according to the flight control instruction. According to the unmanned aerial vehicle autonomous obstacle detection system and method based on the binocular vision, the vision information is fused with other sensor information, the flight environment information is perceived, flight path control and path planning are conducted to avoid the obstacles, the problem of vision obstacle avoidance of the unmanned aerial vehicle is effectively solved, and the capacity of completing vision obstacle avoidance by means of a vehicle-mounted camera is achieved.
Owner:一飞智控(天津)科技有限公司
Apparatus and methods for reinforcement-guided supervised learning
Framework may be implemented for transferring knowledge from an external agent to a robotic controller. In an obstacle avoidance / target approach application, the controller may be configured to determine a teaching signal based on a sensory input, the teaching signal conveying information associated with target action consistent with the sensory input, the sensory input being indicative of the target / obstacle. The controller may be configured to determine a control signal based on the sensory input, the control signal conveying information associated with target approach / avoidance action. The controller may determine a predicted control signal based on the sensory input and the teaching signal, the predicted control conveying information associated with the target action. The control signal may be combined with the predicted control in order to cause the robotic apparatus to execute the target action.
Owner:BRAIN CORP
Method for planning path for mobile robot based on environmental modeling and self-adapting window
InactiveCN101738195ASolve the problem of generating obstacle avoidance paths in real timeThe problem of real-time generation of obstacle avoidance paths satisfiesInstruments for road network navigationSpecial data processing applicationsSimulationLocal environment
The invention relates to a method for planning a path for a mobile robot based on environmental modeling and a self-adapting window, which relates to a method for planning a real-time path for the mobile robot. The method comprises the following steps of: performing modeling and analysis on a multiple constraint local environment; performing passable analysis; performing safety analysis; performing motion smoothness analysis; performing goal-directed analysis; and performing path planning by adopting the self-adapting window. Because the method has better environmental suitability and obstacle avoiding capacity, the method obtains good safety and reachability, has high calculation real-time property, so the method solves the problem that the mobile robot generates an obstacle avoidance path in real time in an uncertain complex environment, provides a path selection method with optimized integration, better meets the requirements on obstacle avoidance for the mobile robot, realizes the real-time path planning and control of the robot, and provides an effective collision-less path planning method for the navigation application of the mobile robot.
Owner:XIAMEN UNIV
Service mobile robot navigation method in dynamic environment
InactiveCN103558856AEnsure predictabilityImprove securityPosition/course control in two dimensionsLocation trackingLaser sensor
The invention relates to the technical field of mobile robot autonomous navigation and discloses a service mobile robot navigation method in a dynamic environment. The service mobile robot navigation method in the dynamic environment includes the following steps that firstly, position tracking of people can be achieved by utilizing multiple global cameras and robot vehicle-mounted laser sensors in an indoor environment; secondly, the moving mode of people under a specific indoor environment site is trained according to collected samples, and the moving trend of people is predicated; thirdly, a current position and a predicated position of people are merged with an environment static obstacle raster map, and a navigation risk probability map is generated; fourthly, a robot navigation movement controller of a global route planning-local obstacle avoidance control gradational structure is adopted to control robot navigation behavior, and safe and efficient navigation behavior of a robot under a complex dynamic environment where the robot coexists with people is ensured through controlling.
Owner:SOUTHEAST UNIV
High-resolution polarization-sensitive imaging sensors
An apparatus and method to determine the surface orientation of objects in a field of view is provided by utilizing an array of polarizers and a means for microscanning an image of the objects over the polarizer array. In the preferred embodiment, a sequence of three image frames is captured using a focal plane array of photodetectors. Between frames the image is displaced by a distance equal to a polarizer array element. By combining the signals recorded in the three image frames, the intensity, percent of linear polarization, and angle of the polarization plane can be determined for radiation from each point on the object. The intensity can be used to determine the temperature at a corresponding point on the object. The percent of linear polarization and angle of the polarization plane can be used to determine the surface orientation at a corresponding point on the object. Surface orientation data from different points on the object can be combined to determine the object's shape and pose. Images of the Stokes parameters can be captured and viewed at video frequency. In an alternative embodiment, multi-spectral images can be captured for objects with point source resolution. Potential applications are in robotic vision, machine vision, computer vision, remote sensing, and infrared missile seekers. Other applications are detection and recognition of objects, automatic object recognition, and surveillance. This method of sensing is potentially useful in autonomous navigation and obstacle avoidance systems in automobiles and automated manufacturing and quality control systems.
Owner:THE UNITED STATES OF AMERICA AS REPRESENTED BY THE SECRETARY OF THE NAVY
Autonomous navigation and man-machine coordination picking operating system of picking robot
ActiveCN102914967AImprove practicalityReduce the level of intelligent control requiredPicking devicesAdaptive controlStereoscopic videoMan machine
An autonomous navigation and man-machine coordination picking operating system of a picking robot comprises a travelling unit of the picking robot, a picking robot arm, an Agent, a wireless sensor network, a computer and a panoramic stereoscopic visual sensor. The Agent has functions of autonomous navigation, obstacle avoidance, positioning and path planning and the like, the wireless sensor network is used for completing man-machine coordination picking information interaction, the computer is used for providing long-distance intervention and management for picking administrators during man-machine coordination picking operation, and the panoramic stereoscopic visual sensor is used for acquiring panoramic stereoscopic video images in a picking area. The autonomous navigation and man-machine coordination picking operating system of the picking robot is fine in natural flexibility, simple in mechanism, low in control complexity, limited intelligent, high in picking efficiency, fine in environmental adaptation, and low in manufacturing and maintenance costs., Picking objects and crop are not damaged during picking.
Owner:ZHEJIANG UNIV OF TECH
Relocating method and apparatus of indoor robot
ActiveCN106092104AImprove accuracyAccurate Autonomous NavigationNavigational calculation instrumentsLaser sensorCloud data
The invention provides a relocating method and apparatus of an indoor robot. The method comprises the following steps: controlling a visual sensor to acquire visual image data, and controlling a laser sensor to acquire laser dot cloud data; judging whether the robot is lost in a current environmental map according to the laser dot cloud data; if yes, laser relocating the robot according to the laser dot cloud data, visually relocating the robot according to the visual image data, and determining whether a candidate area exists or not according to a laser relocating result and a visual relocating result; when the candidate area exists, carrying out the posture optimization for the robot, and determining current position information and current posture information of the robot; and when the candidate area does not exist, controlling the robot to make obstacle avoidance motion according to the laser dot cloud data until the candidate area is determined. The robot is relocated by adopting a way of combining the laser sensor and the visual sensor, so that the relocating accuracy of the robot is improved, and the robot can be accurately and autonomously navigated.
Owner:SHENZHEN WEIFU ROBOT TECH CO LTD
Binocular vision-based robot target identifying and gripping system and method
InactiveCN102902271AIntelligent service modeHumanized serviceManipulatorPosition/course control in two dimensionsEngineeringObstacle avoidance
The invention discloses a binocular vision-based robot target identifying and gripping system and method. The binocular vision-based robot target identifying and gripping system comprises a binocular image acquisition module, an RFID (Radio Frequency Identification) transceiving module, a chassis movement module, an obstacle avoidance module and a mechanical arm control module. The binocular vision-based robot target identifying and gripping method comprises the following steps of: (1) calibration of a binocular camera; (2) erection and conversion of a coordinate system; (3) target identification and location; (4) autonomous navigation and obstacle avoidance; and (5) control over mechanical arms for gripping a target object. According to the invention, a robot can be intelligently interactive with the environment, and the intelligent gripping capability of the robot is enhanced. According to the binocular vision-based robot target identifying and gripping system and method, except for identification and location to the target object, a navigation database is also established, and the robot can automatically reach an area where the object is located after the target object is positioned; and the binocular vision-based robot target identifying and gripping system and method ensures that a service mode of the robot is more intelligentized and humanized by controlling the human-simulated mechanical arms and adopting a specific personified path gripping manner.
Owner:SHANGHAI UNIV
Obstacle detection using stereo vision
ActiveUS20060095207A1Analogue computers for vehiclesAnalogue computers for trafficVegetation heightObstacle avoidance
A system and method for detecting an obstacle comprises determining a vegetation height of a vegetation canopy at corresponding coordinates within a field. An object height is detected, where the object height of a object exceeds the vegetation height. A range of the object is estimated. The range of the object may be references to a vehicle location, a reference location, or absolute coordinates. Dimensions associated with the object are estimated. An obstacle avoidance zone is established for the vehicle based on the estimated range and dimensions.
Owner:DEERE & CO
Object detection system
InactiveUS20070019181A1Wide field of viewHigh resolutionOptical rangefindersRoad vehicles traffic controlTriangulationHome robot
An object detection system utilizing one or more thin, planar structured light patterns projected into a volume of interest, along with digital processing hardware and one or more electronic imagers looking into the volume of interest. Triangulation is used to determine the intersection of the structured light pattern with objects in the volume of interest. Applications include navigation and obstacle avoidance systems for autonomous vehicles (including agricultural vehicles and domestic robots), security systems, and pet training systems.
Owner:SINCLAIR KENNETHH +2
Mobile robot three-dimensional mapping and obstacle avoidance method based on space bag of words model
ActiveCN105843223AReduced memory footprintImprove accuracyPosition/course control in two dimensionsLaser rangingPoint cloud
The invention discloses a mobile robot three-dimensional mapping and obstacle avoidance method based on a space bag of words model. The method comprises following steps: 1) collecting Kinect sensor data, and using a space bag of words model which fuses spatial relationships to describe scene image features 2) describing robot three-dimensional SLAM by means of the SDBoW2 model of the scene image to realize closed loop detection, three-dimensional point cloud registration, and graph structure optimization and therefore creating a global environmental three-dimensional point cloud density map; 3) the robot using the created global three-dimensional map and the Kinect sensor information to perform indoor real-time obstacle avoidance guiding. The method is aimed at low cost mobile robots without speedometers or laser distance measuring sensors; reliable real-time three-dimensional map creation and obstacle avoidance can be realized depending only on Kinect sensors; the method can be applied in long time mobile robot operation service at large area of indoor environment such as household places and office rooms, etc.
Owner:SOUTHEAST UNIV
Multiple obstacle-avoidance control method of unmanned plane used for electric wire inspection
InactiveCN103135550AHigh precisionImprove reliabilityPosition/course control in two dimensionsInformation processingWireless data
The invention discloses a multiple obstacle-avoidance control method of an unmanned plane used for electric wire inspection. The multiple obstacle-avoidance control method of the unmanned plane used for the electric wire inspection comprises an unmanned plane subsystem and a ground station subsystem. The unmanned plane subsystem comprises an embedded flight control device, a position detection module, an information processing module and an airborne terminal of a wireless data chain. The position detection module comprises a global navigation satellite system (GNSS) receiver, an electromagnetic field sensor and ultrasonic ranging sensors, wherein the ultrasonic ranging sensors are symmetrically arranged on the periphery of a machine body of the unmanned plane. The ground station subsystem comprises a ground terminal of the wireless data chain and an embedded supervisory control computer. The embedded supervisory control computer is loaded with a data base, wherein the data base contains an electric transmission line electromagnetic field distribution model and an electric transmission line space three-dimensional model. According to the multiple obstacle-avoidance control method of the unmanned plane used for the electric wire inspection, a security constraint area for the operation of the unmanned plane is built, the information processing module is adopted for integration of unmanned plane position information provided by an information detection module, relative distance between the unmanned plane and an electric transmission line is detected, and multiple obstacle-avoidance of the unmanned plane used for the electric wire inspection is achieved.
Owner:NANJING CARVEDGE TECH
Obstacle detection using stereo vision
ActiveUS7248968B2Analogue computers for vehiclesAnalogue computers for trafficVegetation heightObstacle avoidance
Owner:DEERE & CO
Multi-sensor fusion-based autonomous obstacle avoidance unmanned aerial vehicle system and control method
ActiveCN105892489AAvoid collisionImprove real-time detectionPosition/course control in three dimensionsMulti sensorBinocular distance
The invention discloses a multi-sensor fusion-based autonomous obstacle avoidance unmanned aerial vehicle system and a control method. The system includes an environment information real-time detection module which carries out real-time detection on surrounding environment through adopting a multi-sensor fusion technology and transmits detected information to an obstacle data analysis processing module, the obstacle data analysis processing module which carries out environment structure sensing construction on the received information of the surrounding environment so as to determine an obstacle, and an obstacle avoidance decision-making module which determines an obstacle avoidance decision according to the output result of the obstacle data analysis processing module, so as to achieve obstacle avoidance of an unmanned aerial vehicle through the driving of power modules which is performed by a flight control system. According to the multi-sensor fusion-based autonomous obstacle avoidance unmanned aerial vehicle system and the control method of the invention, binocular machine vision systems are arranged around the body of the unmanned aerial vehicle, so that 3D space reconstruction can be realized; and an ultrasonic device and a millimeter wave radar in an advancing direction are used in cooperation, so that an obstacle avoidance method is more comprehensive. The system has the advantages of high real-time performance of obstacle detection, long visual detection distance and high resolution.
Owner:STATE GRID INTELLIGENCE TECH CO LTD
Multifunctional intelligent routing inspection robot used in power tunnel
ActiveCN102880179AImprove inspection efficiencyAchieve coveragePosition/course control in two dimensionsDrive wheelComputer module
The invention discloses a multifunctional intelligent routing inspection robot used in a power tunnel, which includes a vehicle body, wherein a driving wheel and a driven wheel are arranged at the top of the vehicle body; and an intelligent positioning module, an intelligent tracking module, an intelligent obstacle avoidance module, an intelligent imaging module, an intelligent distance measurement module, and an intelligent control module are arranged on the vehicle body. The multifunctional intelligent inspection robot used in the power tunnel has a rich inspection content, achieves a high inspection work efficiency, and can completely cover conditions in the tunnel; and in case of emergency, the site condition is clearly collected the first time and sent to a monitoring center, and an efficient treatment measure is taken for a specific part of the tunnel or a cable when necessary.
Owner:康威通信技术股份有限公司
Mobile robot obstacle avoidance method based on Kinect
ActiveCN105652873AMaster fastRealize identificationPosition/course control in two dimensionsVehiclesPotential fieldComputer vision
The invention discloses a mobile robot obstacle avoidance method based on Kinect. In the indoor environment, environment information is obtained through a Kinect sensor, obstacle characteristics are recognized by processing depth information, different obstacles are separated out, the sizes of the obstacles can be estimated and the special obstacles are recognized; according to information of the obstacles, corresponding obstacle scenes are determined, so that corresponding obstacle avoidance strategies are determined, and on the basis of an artificial potential field method, the solution with the high adaptability, good real-time performance and smooth path is provided for real-time obstacle avoidance of an intelligent mobile robot in the unknown indoor environment. The environment information can be better mastered, so that the method is applicable to more indoor scenes, meanwhile, obstacle avoidance is performed on the basis of the artificial potential field method, and the defects existing in some artificial potential field methods are overcome through the environment information by means of advantages of the artificial potential field method.
Owner:SUN YAT SEN UNIV
Robot path planning method and device in indoor dynamic environment and robot
InactiveCN106774347ANot easy to lose targetNot easy to lose into deadlockPosition/course control in two dimensionsVehiclesEngineeringObstacle avoidance
The invention relates to the technical field of robots, in particular to a robot path planning method and device in an indoor dynamic environment and a robot. Known obstacle environment information and obstacle expansion information are taken as reference in global path planning, a local path is generated according to dynamic obstacle information and obstacle expansion information in local path planning, is spliced with a global path with the minimum path cost value sum and replaces the global path with the minimum path cost value sum in a local window to obtain a target obstacle avoidance path, and the robot is controlled with a path fitting control algorithm to move along the target obstacle avoidance path so as to avoid dynamic obstacles. The obstacle environment information acquired in the global path planning is more complete, global environment is taken into consideration in the global path with the minimum path cost value sum, and the local path is generated according to the dynamic obstacle information and the obstacle expansion information in the local path planning, so that the robot can adapt to the changing environment during operating in the local window and is enabled to walk along the finally planned target obstacle avoidance path.
Owner:ANKE SMART CITY TECH PRC
Autonomous obstacle avoidance and navigation method for unmanned aerial vehicle-based field search and rescue
InactiveCN107656545AGuaranteed accuracySatellite radio beaconingTarget-seeking controlUltrasonic sensorDetect and avoid
An autonomous obstacle avoidance and navigation method for unmanned aerial vehicle (UAV)-based field search and rescue provided by the invention includes global navigation based on GPS signals and anautonomous obstacle avoidance and navigation algorithm based on binocular vision and ultrasound. First, a UAV carries out search under the navigation of GPS signals according to a planned path. Aftera target is found, the autonomous obstacle avoidance and navigation algorithm based on binocular vision and ultrasound is adopted. A binocular camera acquires a disparity map containing depth information. The disparity map is re-projected to a 3D space to get a point cloud. A cost map is established according to the point cloud. The path is re-planned using the cost map to avoid obstacles. When there is no GPS signal, a visual inertial odometry (VIO) is used to ensure that the UAV flies according to the planned path, and an ultrasonic sensor is used to detect and avoid obstacles below the UAVto approach the rescued target. UAV autonomous obstacle avoidance and navigation in a field search and rescue scene is realized.
Owner:WUHAN UNIV
Improved VFH algorithm-based positioning and obstacle avoidance method and robot
ActiveCN103926925ASolve the obstacle avoidance path planning problemPosition/course control in two dimensionsLaser rangingHome environment
The invention provides an improved VFH algorithm-based positioning and obstacle avoidance method and robot. According to the improved VFH algorithm-based positioning and obstacle avoidance method and robot, on the basis of an improved vector field histogram method and a scan matching algorithm, environmental information is acquired by the adoption of a laser range-finder sensor, and the pose error brought by speedometer is amended by the adoption of the polar coordinate scan matching algorithm. After robot positioning is finished, environmental information is rasterized, an obstacle is expanded according to the relationship between the robot and the obstacle and considering the sensing uncertainty of a movable robot and the real size of the robot, an original polar coordinate histogram is built, the free walking area and the obstacle avoidance area are acquired, a binary polar coordinate histogram is acquired through the definition of two threshold values, a shielding polar coordinate histogram is built through estimating the movement trail of the movable robot, and finally, the cost function is introduced to determine the best movement direction of the robot so as to solve the problem of shielding route planning of the movable robot in a home environment.
Owner:江苏久祥汽车电器集团有限公司
Obstacle avoidance system
ActiveUS20170236422A1Safely and efficiently avoidInstruments for road network navigationAnti-collision systemsComputer visionObstacle avoidance
Owner:NIHON KENKI CO LTD
Obstacle avoidance path computing apparatus, obstacle avoidance path computing method, and obstacle avoidance control system equipped with obstacle avoidance path computing system
InactiveUS20070288133A1Improve accuracyAnti-collision systemsOptical signallingControl systemObstacle avoidance
An obstacle avoidance path computing apparatus is provided with a preceding object detecting section, a host vehicle information detecting section, a preceding object arrival region estimating section and a preceding object avoidance path setting section. The preceding object detecting section detects a preceding object. The host vehicle information detecting section detects host vehicle information. The preceding object arrival region estimating section calculates an estimated arrival region within which the preceding object could arrive after a prescribed amount of time has elapsed since the preceding object was detected, based on an estimated attribute of the preceding object from the preceding object information. The preceding object avoidance path setting section calculates an avoidance path that will not encroach on the estimated arrival region based the preceding object information and the host vehicle information.
Owner:NISSAN MOTOR CO LTD
Method, medium, and apparatus for self-propelled mobile unit with obstacle avoidance during wall-following algorithm
ActiveUS20060229774A1Not easy to detectAnti-collision systemsVehicle position/course/altitude controlTransmitted powerEngineering
A method, medium, and apparatus of a self-propelled mobile unit with obstacle avoidance during wall-following. In the self-propelled mobile unit, a carrying unit may move the mobile unit by using a transmitted power, and a sensor unit can detect an obstacle and a wall, which may be respectively placed in front of and to the side of the mobile unit, with respect to a moving direction of the carrying unit. A controller may direct the carrying unit by generating a path along which the carrying unit moves according to a detection result from the sensor unit. Accordingly, the controller can direct the carrying unit to move while maintaining a predetermined distance (within a predetermined range) from the wall. If the sensor unit detects an obstacle, the controller directs the carrying unit to move in an obstacle free direction.
Owner:SAMSUNG ELECTRONICS CO LTD
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