Collaborative search blocking method based on ground robot

Abstract

The invention relates to the technologies of image processing, real-time mapping, path planning, robots and the like, and provides a collaborative search blocking platform of a ground robot. The collaborative searching and blocking method based on the ground robot uses a ground robot carrying a camera and a processor to carry out target searching; one robot additionally carries a laser radar; therobot carrying the laser radar establishes an environment map by using the laser radar, and the map is transmitted to other robots, all the robots acquire image information of the surrounding environment through cameras, the image information is processed, an appointed target object is identified in a plurality of objects by utilizing a pre-trained detection and tracking algorithm, the appointed target object is tracked for a long time, and data transmission among the robots is performed through a wireless network; when a certain robot detects a target, the robot can track the target and sendthe position information of the target to other ground robots in real time, and real-time path planning and encircling are carried out. The method is mainly applied to robot design occasions.

Description

technical field [0001] The invention relates to the fields of computer vision, image processing, real-time mapping, path planning, etc., and solves how to search and block a specific target in an unknown environment with multiple robots. Background technique [0002] With the development of robot technology, people's requirements for robots are no longer limited to a single robot. In recent years, with the emergence of robot production lines and the application of flexible manufacturing systems, researchers are becoming more and more interested in the system platform composed of multiple robots, and the research of multiple robots has become an important aspect of robotics research. Especially in the field of military industry, how multiple robots can establish an environmental map in an unknown environment, detect and track specific targets, and finally realize target roundup has become a hot topic. [0003] There are three main parts of ground robot collaborative search a...

AI Technical Summary

Problems solved by technology

If the detection algorithm is only used for tracking, it is difficult to achieve the effect of real-time detection on the embedded system of the ground robot. However, if the tracking algorithm is used alone, the first frame needs to be manually initialized, which cannot achieve the effect of autonomous tracking of the target, and if the tracking fails , it is impossible to recapture the target, how to learn from each other is an urgent problem to be solved

The purpose of path planning is to establish a smooth and reasonable path in the known environmental map, and to find the optimal route as much as possible on the basis of avoiding obstacles on the environmental map. Commonly used methods include A* (A-star algorithm, heuristic Search), RRT (Rapidly-exploring Randomized Trees, fast exploration random tree) algorithm, etc., but when tracking moving objects, real-time path planning is required, and the above methods are difficult to achieve high efficiency and accuracy

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