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Method for planning real-time motion of mobile robot based on human behavior simulation

A mobile robot and motion planning technology, applied in the field of robotics, to ensure safety, improve robustness and high efficiency

Active Publication Date: 2018-06-12
NANKAI UNIV
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Problems solved by technology

[0006] The purpose of the present invention is to solve the problem of real-time path planning in a large-scale, dynamically changing, partially unknown, unstructured indoor environment and the problem of trajectory planning with completeness guarantee under various complex constraints, providing a human-based A real-time motion planning method for mobile robots based on behavioral simulation, enabling mobile robots to navigate safely and autonomously in complex indoor environments

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  • Method for planning real-time motion of mobile robot based on human behavior simulation
  • Method for planning real-time motion of mobile robot based on human behavior simulation
  • Method for planning real-time motion of mobile robot based on human behavior simulation

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Embodiment Construction

[0049] In order to enable those skilled in the art to better understand the solution of the present invention, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0050] Such as figure 1 As shown, the real-time motion planning method of mobile robot based on human behavior simulation mainly includes: (1) multi-layer anthropomorphic behavior path planning framework, (2) complete and adjustable trajectory planning algorithm, (3) dynamic monitoring and recovery behavior strategy.

[0051] The specific operation of the above motion planning method is as follows:

[0052] (1) Multi-layer anthropomorphic behavior path planning framework;

[0053] Referring to the behavior pattern of human planning, the global layer path planning, perception layer path planning, and execution layer path planning are respectively set corresponding to the human brain, human eyes, and human legs. The map and coordinate system...

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Abstract

The invention proposes a method for planning the real-time motion of a mobile robot based on human behavior simulation, and the main contents of the method comprise a multilayer personification behavior path planning frame: simulating the functions of a human brain, human eyes and human legs based on the behavior mode of human planning, correspondingly setting a global layer path planning, sensinglayer path planning, and execution layer path planning; a completeness adjustability path planning algorithm which guarantees the completeness and is high in efficiency, wherein a track planned through the algorithm can meet the kinetics kinetic constraint and environment constraint conditions of the robot; and a dynamic monitoring and recovery behavior strategy: carrying out the real-time dynamic monitoring of a safety distance range in front of the robot, and taking a recovery behavior strategy during emergency, thereby effectively guaranteeing the safety and improving the robustness. The method can achieve the real-time motion planning of the mobile robot in large-scale, dynamic and unstructured indoor environments with an unknown part.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a real-time motion planning method for a mobile robot based on human behavior simulation. Background technique [0002] With the development of science and technology, mobile robots have been widely used in home services, logistics warehousing, and scene monitoring. Motion planning technology is a key technology necessary for mobile robots to efficiently complete various complex tasks. Although there have been some research results in this area [1-3], a collision-free motion planning strategy that can guarantee completeness is still a challenging problem in the field of robotics [4]. [0003] Motion planning aims to calculate a feasible trajectory from the initial pose to the target pose, so that the robot avoids obstacles and satisfies constraints such as kinematics and dynamics. Motion planning is divided into coupled planning and decoupled planning. The former is directly sol...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0214
Inventor 张雪波王佳蕊方勇纯沈佩尧
Owner NANKAI UNIV
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