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Indoor pedestrian following and obstacle avoidance method based on UWB and laser radar

A technology of laser radar and pedestrians, which is applied in two-dimensional position/channel control, non-electric variable control, instruments, etc., can solve the problems such as the large influence of light, the target must appear in the field of vision, and the inability to actively avoid obstacles. safety effect

Inactive Publication Date: 2020-12-25
TONGJI UNIV
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Problems solved by technology

Similarly, this method also has the problems of being greatly affected by light, the target must appear in the field of view, and the problem of being unable to actively avoid obstacles

Method used

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  • Indoor pedestrian following and obstacle avoidance method based on UWB and laser radar
  • Indoor pedestrian following and obstacle avoidance method based on UWB and laser radar
  • Indoor pedestrian following and obstacle avoidance method based on UWB and laser radar

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Embodiment

[0051] Such as figure 1As shown, the present invention provides an indoor pedestrian following and obstacle avoidance method based on UWB and laser radar, which specifically includes the following steps:

[0052] S1. Obtain the relative coordinates of the hand-held beacon pedestrians from the AGV vehicle UWB module, use the laser radar to obtain the surrounding obstacle information, and send the pedestrian coordinates and obstacle information to the host computer in real time.

[0053] Specifically: the followed pedestrian needs to hold the beacon. The UWB module obtains the distance and angle of the pedestrian’s hand-held beacon through the bilateral two-way ranging (SDS-TWR) algorithm, and then projects the distance on the AGV’s own coordinate axis to obtain the relative coordinates of the pedestrian. UWB The positioning of the module positioning is achieved through three base stations. The relative coordinates of pedestrians are the target points of path planning. When the...

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Abstract

The invention relates to an indoor pedestrian following and obstacle avoidance method based on UWB and laser radar. The method comprises the following steps of: 1) acquiring pedestrian coordinate information by using an AGV vehicle-mounted UWB module, acquiring obstacle information by using the laser radar, and sending the obstacle information to an upper computer in real time; 2) searching a pedestrian following path according to the pedestrian coordinate information, planning an obstacle avoidance path according to the obstacle information, acquiring current pose information (x, y, theta) ofthe AGV, and sending the current pose information to a path tracking control module; 3) calculating a relation between the current pose of the AGV and the pedestrian following path by the path tracking control module, and outputting a linear velocity v and an angular velocity w through a fuzzy PID algorithm; and 4) sending the linear velocity v and the angular velocity w to the control module torealize stable tracking of the AGV on the pedestrian. Compared with the prior art, the indoor pedestrian following and obstacle avoidance method provided by the invention has the advantages of improving the accuracy and stability and the like.

Description

technical field [0001] The invention relates to the field of robot following obstacle avoidance and autonomous navigation, in particular to an indoor pedestrian follow and obstacle avoidance method based on UWB and laser radar. Background technique [0002] With the advancement of science and technology, service robots, as a representative of robot technology integration, are developing toward intelligence and autonomy. As a kind of service robot, following robots can autonomously complete continuous following actions without physical contact with the target, and keep a certain distance from the target. , Military transportation and other fields have important applications. [0003] The existing indoor robot following technologies mainly include the following types: [0004] The first is the following method based on camera recognition: the following robot uses a camera to capture images to identify pedestrians and follow them autonomously. However, ordinary monocular came...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0214G05D1/0231G05D1/0257G05D1/027G05D1/0276
Inventor 刘成菊袁家遥陈启军石文博杜家源
Owner TONGJI UNIV
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