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Robot obstacle avoidance system and method based on obstacle motion state prediction

A motion state and mobile robot technology, applied in control/regulation systems, instruments, motor vehicles, etc., can solve problems such as time-consuming, inability to detect distance information, complexity, etc., achieve good versatility, realize autonomous obstacle avoidance, good stability effect

Inactive Publication Date: 2018-08-17
SOUTH CHINA UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Compared with ultrasonic sensors, infrared sensors cannot detect distance information; visual sensors can collect environmental image information, but most visual sensors are limited by light conditions, visual sensor information image processing is more complicated, and time-consuming; ultrasonic sensor information Simple processing, strong real-time performance, and can measure the distance information of obstacles

Method used

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  • Robot obstacle avoidance system and method based on obstacle motion state prediction
  • Robot obstacle avoidance system and method based on obstacle motion state prediction
  • Robot obstacle avoidance system and method based on obstacle motion state prediction

Examples

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Effect test

Embodiment 1

[0044] Such as figure 1 and figure 2 As shown, the robot obstacle avoidance system based on the obstacle motion state prediction includes:

[0045] A robot obstacle avoidance system based on obstacle motion state prediction, including:

[0046] Mobile robots with underlying drivers;

[0047] Four ultrasonic sensors are evenly distributed in the four directions of front, rear, left and right of the mobile robot, and are connected to the corresponding ports of the robot controller through ports. The emission directions of the four ultrasonic sensors are all outward, Used to obtain the distance information of obstacles (see figure 2 );

[0048] The robot controller is used to fuse, analyze and process the obstacle distance information acquired by the ultrasonic sensor, and then control the mobile robot to move and avoid obstacles;

[0049] a power supply system, used to supply power to the mobile robot and the robot controller;

[0050] Mobile phone terminal or PC termina...

Embodiment 2

[0053] A robot obstacle avoidance method based on obstacle motion state prediction, comprising steps:

[0054] S1. Initialize the four ultrasonic ranging modules;

[0055] S2. The four ultrasonic sensors adopt a time-sharing mechanism. When the speed of the robot is zero, the front, right, rear, and left ultrasonic sensors perform cyclic ranging according to a certain period and order. Each ultrasonic sensor Detect the information of obstacles in their respective directions, and the robot controller reads and saves the detection information;

[0056] S3. According to the ranging result of the ultrasonic sensor, predict the location of the obstacle, and estimate the movement state of the obstacle, including the magnitude and direction of the movement speed;

[0057] S4. Based on the motion state of the obstacle estimated in step S3, the robot executes a corresponding obstacle avoidance decision.

[0058] Specifically, as image 3 As shown, in the step S2, the four ultrasonic...

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Abstract

The invention discloses a robot obstacle avoidance system based on obstacle motion state prediction. The system comprises a mobile robot with bottom layer driving, four ultrasonic sensors, a robot controller and a power supply system, wherein the four ultrasonic sensors are installed around a robot, are connected to the corresponding ports of a robot controller through ports, and are used for acquiring the distance information of an obstacle; the robot controller is used for carrying out fusion analysis and processing on the obstacle distance information acquired by the ultrasonic sensors, andthen making a mobile robot move and avoid the obstacle; and the power supply system is used for supplying power to the mobile robot and the robot controller. The invention also discloses a robot obstacle avoidance method based on obstacle motion state prediction. The system and the method have low cost, good stability, high reliability and good versatility, and can be widely applied to the obstacle avoidance and navigation field of the robot, and the autonomous obstacle avoidance of the mobile robot to a dynamic obstacle can be realized.

Description

technical field [0001] The invention relates to the fields of robot obstacle avoidance, navigation, path planning, etc., in particular to a robot obstacle avoidance system and method based on obstacle motion state prediction. Background technique [0002] The obstacle avoidance problem of mobile robot is an important topic in its research. The main concern of its obstacle avoidance research is what strategy to use to make the robot avoid obstacles and move safely in an environment with obstacles. Whether it is in a static or dynamic environment, robot obstacle avoidance technology still needs to be improved. The research on robot obstacle avoidance is a challenging topic worthy of further research. In recent years, with the continuous improvement of mobile robot technology, mobile vacuum cleaners have rapidly penetrated into the lives of ordinary people. In addition, there are many mobile robots that are constantly growing and entering people's lives. Therefore, research o...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0255
Inventor 韦晓琴魏武
Owner SOUTH CHINA UNIV OF TECH
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