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Obstacle detection and avoidance method in multi-robot system

An obstacle detection, multi-robot technology

Inactive Publication Date: 2020-03-31
TIANJIN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The dynamic obstacle avoidance method not only needs to identify obstacles, but also needs to measure the size of obstacles and calculate the distance between obstacles at the same time, so it is more complicated

Method used

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  • Obstacle detection and avoidance method in multi-robot system
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  • Obstacle detection and avoidance method in multi-robot system

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Experimental program
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Effect test

Embodiment 1

[0035] Taking five Pioneer 3dx robots as the research object, the effective method of multi-robot control is discussed. The software "V-REP" provided by CoppeliaRobotics GmbH was used to simulate these robots.

[0036] Such as figure 1 As shown, the robot starts to move and adjust its heading.

[0037] (1) The robot sensor starts to detect the environment and perceive whether the obstacle is a static or dynamic obstacle.

[0038] (2) If the sensor detects any static or dynamic obstacles that the robot passes by. Then stop moving, adjust the course according to the situation, and start exploring the environment again to find the target.

[0039] (3) If the target is not visible, it will continue to move, adjust their orientation, explore the environment, and move towards the target. It will repeat these steps until it reaches the target point.

[0040] (4) If the target is visible, it will start moving again, calculate the new rebound angle through equations (1) to (3) to ...

Embodiment 2

[0045] In this case, as figure 2 As shown, collision prevention between two robots is examined, considering each robot as an interrelated moving obstacle.

[0046] As the robots travel in each other's direction, each robot's sonar sensors transmit sound waves that then collide with another dynamic obstacle or robot, bouncing back to indicate how far the robots are.

[0047] When two robots move toward each other less than the edge (threshold) range, they move toward target points that are far away from each other and have a low chance of colliding.

Embodiment 3

[0049] image 3 Collision avoidance between the robot and an obstacle (static obstacle) is shown. When multiple robots are heading in the direction of an obstacle, it also calculates the distance between each other and static obstacles using sonar sensors evenly placed on them.

[0050] Once the distance between these static obstacles and the robot is below the minimum threshold distance of 2 meters, the robots will move away from the obstacle in the direction of the target point.

[0051] Mobile robots directly rely on the sensors used in this scheme. Various simulations were performed and results were obtained that were consistent with theory and suggested interpretations. It can also be applied in concrete cases as in external scenarios.

[0052] Therefore, how to prevent collisions between robots and between robots and other types of obstacles in the environment is a key issue in robotics research.

[0053] The invention achieves results in two cases, where the first c...

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Abstract

The invention discloses an obstacle detection and avoidance method in a multi-robot system. Each robot is provided with 16 ultrasonic sensors which are uniformly and separately arranged on the surfaceof the robot, and the 16 ultrasonic sensors cover the 360-degree area around the robot where the 16 ultrasonic sensors are located. The current robot moves along the path, and directly accesses to atarget point firstly, however, when an obstacle or another robot enters an area covered by the current robot sensor, the current robot detects other obstacles based on a value of the distance of the surrounding environment sensed by the sensor and the minimum threshold distance, and then moves in a direction having a very low risk of having other obstacles or other robots until the current robot arrives at the destination. The robot is suitable for changing the direction of the robot even if any moving object comes from the back of the current robot regardless of whether the obstacle is staticor dynamic, so that the robot can avoid the obstacle in all directions.

Description

technical field [0001] The invention relates to obstacle detection and collision avoidance between a mobile robot and environmental obstacles, in particular to an obstacle detection and avoidance method in a multi-robot system. Background technique [0002] The movement of a single robot is easy to handle in terms of control variables, but in an environment where multiple robots work and in a dynamic environment, the control of the robots becomes rather tedious in order to avoid collisions with each other and with obstacles. In addition to the damage, human life may also be threatened from an economic point of view. [0003] The goal of collision avoidance techniques for mobile robots is to prevent collisions with environmental obstacles. The obstacle avoidance algorithm is related to the motion feedback data from the robot's sensors. This obstacle avoidance algorithm modifies the trajectory of the mobile robot in real time so that the robot can avoid collisions with obsta...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0255
Inventor 王子轩谢宗霞
Owner TIANJIN UNIV
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