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Robot indoor environment exploration,obstacle avoidance and target tracking method based on ROS

An indoor environment and target tracking technology, which is applied to instruments, motor vehicles, transportation and packaging, and can solve problems such as lost targets

Active Publication Date: 2018-10-12
ZHENGZHOU UNIV
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  • Application Information

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Problems solved by technology

When the mobile robot uses the Camshift method to track the target, when the target is completely occluded or the speed of the target changes too fast, the mobile robot will lose the target

Method used

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  • Robot indoor environment exploration,obstacle avoidance and target tracking method based on ROS
  • Robot indoor environment exploration,obstacle avoidance and target tracking method based on ROS
  • Robot indoor environment exploration,obstacle avoidance and target tracking method based on ROS

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Embodiment Construction

[0074] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0075] A ROS-based robot indoor environment exploration, obstacle avoidance and target tracking method, its steps are as follows:

[0076] Step 1: Build the hardware platform of the ROS mobile robot: the bottom of the mobile robot is equipped with a motion control module, the upper part of the mobile robot is fixed with a sensor, the middle part of the mobile robot is equipped with a controller and a wireless communication module, and the ROS system is installe...

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Abstract

The invention provides a robot indoor environment exploration,obstacle avoidance and target tracking method based on a ROS. Based on a grid map established through laser radar information,combined with local map deduction and global boundary searching,an independent exploration strategy is designed so that a moving robot can be prevented from getting into a local exploration infinite loop,and whole-indoor-environment exploration can be completely guaranteed. According to the method,real-time tracking nodes and shielding tracking nodes are designed with an improved Kalman filtering method and aMeanShift method in the ROS,the real-time problem and the complete-shielding problem of target tracking of the moving robot are solved,the computing speed of the system is increased,target search time is shortened,and the real-time requirement of tracking is met; when a target is completely shielded,the shielding tracking nodes forecast and track the target according to previous state information,and after shielding is ended,a target is newly locked,tracking modes are automatically switched,and the target is tracked through the real-time tracking mode.

Description

technical field [0001] The invention relates to the technical field of robot movement, in particular to a ROS-based method for indoor environment exploration, obstacle avoidance and target tracking of a robot. Background technique [0002] With the development of science and technology and the progress of society, mobile robot technology has been developed rapidly. At present, the application of robots has involved many fields such as hygiene, medical treatment, tour guides, education, entertainment, security, daily life, etc., and is suitable for various working environments, even dangerous, dirty and boring places. In many cases, the information of the working space is unknown. When the robot enters the unknown environment, it needs to effectively detect the working environment and construct a map of the working environment. Navigation, path planning, obstacle avoidance strategies and other operations can only be performed on the basis of the constructed map. Exploring t...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0214G05D1/0221G05D1/0236G05D1/024G05D1/0246G05D1/0257G05D1/0276
Inventor 姚利娜王继玉吴巍陈文浩李丰哲
Owner ZHENGZHOU UNIV
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