Robot Obstacle Avoidance Algorithm Based on Topological Relationship

Abstract

The invention discloses a robot obstacle avoidance algorithm based on topological relationship, including defining the interval occupied by the robot itself as A region; determining an obstacle as B region; defining N obstacles as N regions; establishing A region and B region The topological relationship between the area and N areas; the topological relationship set can be obtained through the topological relationship and the obstacle avoidance route of the robot can be improved. Accuracy, to avoid external factors from affecting the ranging effect, improve the accuracy of topology calculation probability, and calculate the relationship between the robot and B area or N areas through the topological relationship between the A area, B area, and N areas. The collision probability between the obstacles and the simulated robot collision situation are fed back to the operator, which can improve the robot obstacle avoidance plan and reduce the probability of robot collision damage.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a robot obstacle avoidance algorithm based on topological relationships. Background technique [0002] A robot is a machine device that performs work automatically. It can accept human commands, run pre-programmed programs, and act according to principles and programs formulated with artificial intelligence technology. Its task is to assist or replace human work. There are a lot of obstacles in the working environment of the robot, so it is necessary to set up an obstacle avoidance algorithm for the robot to avoid obstacles; [0003] At present, the more common mobile intelligent robot positioning technology is mainly based on prior environmental information, combined with the current robot position information and sensor input information, to determine the robot's pose; mainly includes relative positioning and absolute positioning, and absolute positioning mainly uses navigation ...

AI Technical Summary

Problems solved by technology

[0003] At present, the more common mobile intelligent robot positioning technology is mainly based on prior environmental information, combined with the current robot position information and sensor input information, to determine the robot's pose; mainly includes relative positioning and absolute positioning, and absolute positioning mainly uses navigation information. Targets, active or passive identification, map matching or satellite navigation technology for positioning, the process is complicated, the cost is high, and the common algorithm is not accurate for the spatial relationship between the robot and the obstacle or between the space area, it needs to be based on the topology between entities Therefore, there is an urgent need for robot obstacle avoidance algorithms based on topological relationships to solve the above problems.

Images