Robot autonomous obstacle avoidance moving control method based on distance vectors

Abstract

The invention relates to a robot autonomous obstacle avoidance moving control method based on distance vectors. In the moving process of a moving robot in the environment, the distance vectors from the robot to obstacles are measured through a distance measuring sensor and an angle sensor which are carried on the robot, the current position of the robot serves as the original point all the time to set up coordinate systems for unknown environments with multiple nearby obstacles, the distance vectors from the robot to the edges of the obstacles are measured, the steering angles of the collision prevention obstacles are obtained, the distance vector, larger than the radial size of the robot, between the two adjacent obstacles is obtained, the distance vector, at which collision with the two adjacent obstacles can be avoided at the same time, composed of the central points of the distance vectors between the current position to the robot and the two adjacent obstacles is obtained and serves as the moving direction of the robot and the moving path through which the robot can pass through the two obstacles, safety obstacle avoidance can be achieved to the maximum, and the autonomous obstacle avoidance moving from the starting point to the target point is achieved. According to a control model, the practical radial sizes of the moving robot and the environment obstacles are taken into consideration, and the robot autonomous obstacle avoidance moving control method has the practical application significance.

Description

technical field [0001] The invention relates to a distance vector-based robot autonomous obstacle avoidance movement control method, which belongs to the technical field of mobile robot control. Background technique [0002] The replacement of human labor by robots has broad application prospects in various fields, and robot technology has been extensively researched and developed. Path planning or navigation of mobile robots can be divided into path planning for known environments and path planning for unknown environments according to the robot's cognition of the working environment. The path planning of the known environment is to plan a path from the starting point to the target point when the robot already knows whether there are obstacles in the environment and the position of the obstacle. It belongs to static global navigation. The algorithm model is relatively mature and relatively simple. Robot path planning in an unknown environment means that the robot has no pr...

AI Technical Summary

Problems solved by technology

The control method of the present invention is simple in calculation, effective and practical, and overcomes the shortcomings of the existing control algorithm model that is complex and does not consider the actual size of the robot and obstacles. The present invention is especially suitable for environments with multiple obstacles, narrow environmental spaces or dynamic obstacles. mobile obstacle avoidance control

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