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Method for robot to avoid dynamic obstacle in complex occasion

A technology for dynamic obstacles and complex scenes. It is used in the field of robots avoiding dynamic obstacles in complex scenes. It can solve problems such as the inability to generate collision-free paths, and achieve the effects of high real-time performance, smooth global trajectory, and small amount of calculation.

Active Publication Date: 2019-07-09
SUN YAT SEN UNIV
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Problems solved by technology

However, such methods are suitable for robots to avoid collisions in the local speed domain, and cannot generate a series of collision-free paths

Method used

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  • Method for robot to avoid dynamic obstacle in complex occasion
  • Method for robot to avoid dynamic obstacle in complex occasion
  • Method for robot to avoid dynamic obstacle in complex occasion

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Embodiment Construction

[0034] The accompanying drawings are for illustrative purposes only, and cannot be construed as limiting the present invention; in order to better illustrate this embodiment, some parts in the accompanying drawings will be omitted, enlarged or reduced, and do not represent the size of the actual product; for those skilled in the art It is understandable that some well-known structures and descriptions thereof may be omitted in the drawings. The positional relationship described in the drawings is for illustrative purposes only, and should not be construed as limiting the present invention.

[0035] Such as figure 1 As shown, a method for a robot to avoid dynamic obstacles in a complex scene includes the following steps:

[0036] Step 1. At the beginning of the global movement, the robot knows the scene map containing static obstacle information and the position of the target point, and uses the informed rrt* algorithm for global path planning to obtain an optimal global path ...

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Abstract

The invention relates to a method for a robot to avoid a dynamic obstacle in a complex occasion. According to the method, under the conditions that the robot is provided with a limited sensing range and the velocity of the dynamic obstacle is greater than the velocity of the robot, an effective track can be generated; and meanwhile, under the condition that the velocity of the dynamic obstacle cannot change suddenly, the track generated by the method can still avoid the obstacle, and a new route does not need to be calculated repeatedly. The method generates a random tree based on a rapid random tree method to search a feasible route, in the growth process of the rapid random tree, growth and selection of tree nodes are carried out by a method of velocity obstruction (MVO), an obstacle avoiding problem can be synchronously considered in a velocity field and a position field, the velocity obstruction growth velocity is high, and high efficiency is achieved; meanwhile, the MVO considering maximum robot velocity is adopted, the comparatively high-velocity dynamic obstacle can be avoided; and in addition, the velocity obstacle has advantage in multi-robot avoiding condition, and the method for robot to avoid the dynamic obstacle in the complex occasion is suitable for avoiding multi-dynamic-obstacles.

Description

technical field [0001] The present invention relates to the technical field of robots, and more specifically, to a method for a robot to avoid dynamic obstacles in complex scenes. Background technique [0002] With the development of related science and technology, robots have gradually been widely used in various fields. At the same time, the increasing complexity of task scenarios makes the demand for robots to move without collision in complex scenarios more intense. For example, in the fields of warehousing, dock shipment, etc., the robot needs to first travel according to its own task path, and at the same time it needs to deal with dynamic obstacles that appear at any time. Therefore, robots have great research value in avoiding dynamic obstacles in complex scenes. In complex scenes, there may be static and dynamic obstacles. How the robot moves in such an environment and how to generate a collision-free path are the key points of the research on this problem. [00...

Claims

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Application Information

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IPC IPC(8): G01C21/20G05D1/12G05D1/02
CPCG01C21/20G05D1/0219G05D1/12
Inventor 许天野成慧黄以华
Owner SUN YAT SEN UNIV
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