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A dynamic obstacle avoidance control method based on lidar

A technology of laser radar and control method, which is applied in two-dimensional position/channel control and other directions, can solve the problem of being unable to avoid obstacles quickly, achieve the effects of reducing the amount of calculation, satisfying real-time obstacle avoidance, and strong robustness

Active Publication Date: 2020-10-09
FOSHAN KINGPENG ROBOT TECH CO LTD
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  • Abstract
  • Description
  • Claims
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AI Technical Summary

Problems solved by technology

However, the traditional artificial potential field method only uses the distance information between the robot and the obstacle, and cannot quickly avoid the obstacle when the robot is facing the obstacle.

Method used

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  • A dynamic obstacle avoidance control method based on lidar
  • A dynamic obstacle avoidance control method based on lidar
  • A dynamic obstacle avoidance control method based on lidar

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Embodiment Construction

[0027] The technical solution of the present invention will be further described below in conjunction with the accompanying drawings.

[0028] A kind of dynamic obstacle avoidance control method based on lidar of the present invention, concrete process is as follows:

[0029] Step 1: The present invention uses laser radar to record the distance data D of obstacles at various angles within a scanning cycle L ,D L Contains 360 data, from 0° to 359°, record the obstacle distance in each direction sequentially. If the obstacle distance is greater than the measurement azimuth of the lidar, the obstacle distance in this direction is infinite. Note the safe distance L of the mobile robot s = 0.5m. If it is judged that the current lidar data contains a value smaller than the safety distance, construct the obstacle point set D S :

[0030] D. S ={(180°,0.49),(181°,0.47),(182°,0.45),(183°,0.43),(184°,0.41),(185°,0.43),(186°,0.45) ,(187°,0.47),(188°,0.49)}

[0031] Execute the m...

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Abstract

Disclosed is a dynamic obstacle avoidance control method based on a laser radar. The laser radar acquires surrounding environment information of a mobile robot in real time, and the laser radar data records the distance of an obstacle met by the laser radar in each direction within a period of time. An obstacle avoidance controller judges whether the obstacle is in a security area of the robot byusing the data of the laser radar. If the mobile robot detects an obstacle, the direction of the obstacle relative to the mobile robot is calculated first via the laser radar data, and then the obstacle avoidance controller calculates the control output quantity of the mobile robot to control the robot to avoid the obstacle. If the mobile robot does not detect an obstacle, a motion controller is used, so that the robot can arrive at a target point. The mobile robot can quickly detect the direction of the obstacle, and the mobile robot generates a smooth and continuous locus by switching the obstacle avoidance controller and the motion controller and constraining the linear acceleration and angular acceleration of the robot.

Description

technical field [0001] The present invention relates to a robot motion control and obstacle avoidance method in a dynamic unknown environment. For the obstacles that appear during the robot's movement, the obstacle avoidance algorithm designed by the present invention calculates the orientation of the obstacle in real time by collecting the distance information of the laser radar, combined with the robot's A kinematic model and control laws that enable the robot to reach a goal point while avoiding obstacles. Background technique [0002] With the development of robot technology, more and more mobile robots are used in production and life, such as medical service robots, home service robots, etc. To complete the task of transporting objects, mobile robots need to have functions such as sensing the environment, path planning, and motion control. In addition, the mobile robot also needs to deal with obstacles that appear during the movement, sense and avoid obstacles, and ens...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
Inventor 欧林林卢靓禹鑫燚朱熠琛朱峰郭永奎
Owner FOSHAN KINGPENG ROBOT TECH CO LTD
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