Automatic guide and obstacle avoidance method for robot

Abstract

The invention discloses an automatic guide and obstacle avoidance method for a robot. The method comprises steps as follows: a global route from a start position to a target position is planned according to an acquired scene map; the robot moves toward the target position in an automatic navigation and location manner according to the scene map and the well planned global path, and a sensor is used for acquiring information of the front of the route in real time; when a dynamitic barrier is determined to exist in the front, whether the robot can cross the dynamic barrier in an obstacle avoidance manner is judged; if yes, the robot crosses the dynamic barrier in an obstacle avoidance manner, and otherwise, a route leading to the target position is replanned with the current position serving as the start position, and the deviation between the new planned route and the original global route doesn't exceed a threshold; or when the distance between the robot and the dynamitic barrier is in the threshold range, the dynamitic barrier is reminded to leave the current route in a voice manner, and the robot continues moving toward the target position. According to the method, the scene environment is not required to be modified, and the robot can automatically avoid the barrier and has higher adaptability.

Description

technical field [0001] The invention relates to the field of robots, in particular to a method for autonomous guidance and obstacle avoidance of a robot. Background technique [0002] Existing indoor robot navigation and positioning methods are usually based on some tags, for example, RFID (Radio Frequency Identification, radio frequency identification) and other light tags and other information. This information not only relies on numerous sensors, but also has high requirements on the environment. For example, it is necessary to modify the original environment and add some identification marks in appropriate places. In actual operation, when these added marks are interfered or blocked, it may cause the failure of navigation and positioning. Therefore, these methods are not suitable for some scenes that have been built and deployed, or the environment will change dynamically, for example, there are many active audiences. [0003] Another type of method uses visual informa...

AI Technical Summary

Problems solved by technology

Therefore, the environmental requirements are relatively high, and the scene may also need to be remodeled, such as adding visual markers or setting up auxiliary cameras at suitable positions (ceiling or corners), etc. In a dynamic environment, if these markers or camera angle of view are blocked Or interference, it will also cause the failure of positioning and navigation

In addition, because the viewing angle and line-of-sight of the visual sensor are generally small, the processing accuracy and speed are not particularly ideal, and the efficiency of positioning and navigation is relatively low.

[0004] Therefore, in the existing automatic navigation methods, there is no method of self-guiding and dynamic obstacle avoidance directly aimed at the complex indoor multi-hall environment without modifying the environment; at the same time, the guidance process cannot be guaranteed directly based on existing methods. The "naturalness" of

For example, in a complex multi-hall environment, for the navigation of two locations in the same exhibition hall, if the path is blocked by the audience, directly using the existing technology may obtain a path that passes through other exhibition halls and returns. Nature

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