D-shaped robot turning control method based on obstacle contour
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Solution Overview
Problem
D-shaped sweeping robots face collisions due to limited adjustable space at the front edge, causing the protrusion to collide with obstacles like walls during turns.
Innovation Solution
A turning control method for D-shaped robots that uses a line laser sensor to extract the obstacle's linear contour, calculates a rotation angle to align the side edge of the head with the contour, adjusts the edge distance based on the robot's body size, and positions the robot to prevent collisions during turns.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the D-shaped robot makes a direct turn when detecting a wall, then it can move along the contour line of the wall, but the protrusion at the front edge is prone to collide with the wall due to limited adjustable space
Solution Approach 1:
The robot performs preliminary actions before turning: it extracts the linear contour of the obstacle using a line laser sensor, calculates the required rotation angle, and adjusts the edge distance based on body size parameters. This preliminary preparation ensures the side edge of the head is properly aligned and positioned before the turn begins, preventing collision while maintaining efficient navigation along the wall contour
2Reliability
If the robot adjusts the position and rotation angle before turning, then collision is prevented, but the control complexity increases
Solution Approach 1:
The control algorithm manages complexity by focusing on calculating and adjusting two key parameters: the rotation angle (to align the side edge with the linear contour) and the edge distance (based on body size parameters). By changing these specific parameters in a systematic way, the robot achieves reliable collision avoidance without requiring overly complex control logic
Data Source
AI summary
A turning control method for a D-shaped robot based on an obstacle contour includes: Step S1: extracting, by the D-shaped robot, a linear contour of an obstacle in front of the D-shaped robot using a line laser sensor, and calculating a rotation angle for turning a side edge of a head of the D-shaped robot to be parallel to the linear contour based on the linear contour; Step S2: calculating an edge distance to be adjusted for the head before turning based on the rotation angle and a body size parameter of the D-shaped robot; and Step S3: adjusting a position of the D-shaped robot based on the edge distance, and making a turn based on the rotation angle until the side edge of the head is parallel to the linear contour.