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Ros-based indoor environment exploration, obstacle avoidance and target tracking method for robots

A technology for indoor environment and target tracking, applied in instruments, motor vehicles, transportation and packaging, etc., can solve problems such as missing targets

Active Publication Date: 2020-07-31
ZHENGZHOU UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

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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  • Ros-based indoor environment exploration, obstacle avoidance and target tracking method for robots
  • Ros-based indoor environment exploration, obstacle avoidance and target tracking method for robots
  • Ros-based indoor environment exploration, obstacle avoidance and target tracking method for robots

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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 present invention proposes a ROS-based method for indoor environment exploration, obstacle avoidance and target tracking of robots. Based on the grid map established by lidar information, combined with local map deduction and global boundary search, the designed autonomous exploration strategy can avoid the mobile robot falling into local Exploring the endless loop ensures that the entire indoor environment can be explored. The present invention uses the improved Kalman filtering method and the MeanShift method to design real-time tracking nodes and occlusion tracking nodes in the ROS system, solving the real-time problem and complete occlusion problem of mobile robot target tracking, improving the computing speed of the system, and shortening the target search. time, meeting the real-time requirements of tracking; when the target is completely occluded, the occlusion tracking node predicts and tracks the target based on the previous status information. When the occlusion ends, the target is re-locked, the tracking mode is automatically switched, and the real-time tracking mode is used. Track the target.

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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Patent Type & Authority Patents(China)
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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