CN103576686A - Automatic guide and obstacle avoidance method for robot - Google Patents
Automatic guide and obstacle avoidance method for robot Download PDFInfo
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Abstract
The invention discloses an automatic guide and obstacle avoidance method for a robot. The method comprises steps as follows: a global route from a start position to a target position is planned according to an acquired scene map; the robot moves toward the target position in an automatic navigation and location manner according to the scene map and the well planned global path, and a sensor is used for acquiring information of the front of the route in real time; when a dynamitic barrier is determined to exist in the front, whether the robot can cross the dynamic barrier in an obstacle avoidance manner is judged; if yes, the robot crosses the dynamic barrier in an obstacle avoidance manner, and otherwise, a route leading to the target position is replanned with the current position serving as the start position, and the deviation between the new planned route and the original global route doesn't exceed a threshold; or when the distance between the robot and the dynamitic barrier is in the threshold range, the dynamitic barrier is reminded to leave the current route in a voice manner, and the robot continues moving toward the target position. According to the method, the scene environment is not required to be modified, and the robot can automatically avoid the barrier and has higher adaptability.
Description
Technical field
The present invention relates to robot field, a kind of method that relates in particular to robot autonomous guiding and keep away barrier.
Background technology
The navigation of existing Indoor Robot with the method for location conventionally all based on some marks, for example, RFID(Radio Frequency Identification, radio-frequency (RF) identification) and the information such as other signals.These information not only rely on numerous sensors, and environment is had higher requirements.For example need to transform for original environment, in suitable place, add some identification markings, in actual motion, when the mark of these interpolations is disturbed or block, may cause the inefficacy of Navigation and localization.Therefore these methods are not suitable for some and have built up and disposed complete, or environment can occur in the dynamic change scene that for example wherein movable spectators are a lot.
Another kind of method is used visual information, and due to itself characteristic, visual information is to light, and light and shade etc. change more responsive.Therefore also higher to environmental requirement, also may need scene to carry out secondary transformation, (ceiling or corner) increases visual indicia or sets up and assist shooting first-class for example in place, in dynamic environment, if these marks or camera visual angle are blocked or disturb, also can cause the failure of location and navigation.In addition, because visual angle and the sighting distance of vision sensor are generally less, neither be desirable especially in the precision of processing and speed, location is lower with navigation efficiency.
Therefore, in existing self-navigation class methods, not yet there is not Environmental change, directly for the autonomous guiding of the indoor many Rooms of complexity environment and the mode of dynamic obstacle avoidance; Meanwhile, directly based on existing method, can not guarantee " naturality " characteristic of guided procedure.For example, in the environment of many Rooms of complexity, for the navigation of two positions in same exhibition room, if path is blocked by spectators, directly adopt prior art may draw a path of turning around again by other exhibition rooms, such path is " not nature ".
Summary of the invention
A kind of method that the object of this invention is to provide robot autonomous guiding and keep away barrier, without site environment is transformed, and can independently dodge barrier, has stronger adaptability.
The object of the invention is to be achieved through the following technical solutions:
Robot autonomous guiding and a method of keeping away barrier, the method comprises:
According to the scene map obtaining, carry out reference position to the global path planning of target location;
According to scene map and the global path planned, utilize the mode of independent navigation and location to move to described target location, and utilize the information in the place ahead, sensor Real-time Collection path;
When confirming that the place ahead exists dynamic barrier, determine whether and can cross this dynamic barrier by keeping away barrier mode, and guarantee to keep away path after barrier and be offset and be no more than threshold value with original global path;
If so, by the described barrier mode of keeping away, cross this dynamic barrier; Otherwise the current location of take is planned a path that arrives described target location again as reference position, and the path of guaranteeing new planning is offset and is no more than threshold value with original global path; Or, when the distance with described dynamic barrier is in threshold range, by the mode of voice, remind described dynamic barrier to leave after current path, continue to move to described target location.
As seen from the above technical solution provided by the invention, the robot autonomous guiding that the present invention proposes and the method for keeping away barrier, adaptability is good, applied range, is not only applicable to general static indoor environment, is applicable to relatively large-scale yet, there is a plurality of be interconnected and independent mutually, similar exhibition center exhibition room structure, and the scene of local environment meeting dynamic change in these structures, such as the large-scale exhibition center that has many people to participate in and shopping plaza etc.When application, do not need existing scene to carry out any processing, for example add terrestrial reference, visual light mark etc.Have simply, reliable, stable, dispose the advantages such as convenient.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme of the embodiment of the present invention, below the accompanying drawing of required use during embodiment is described is briefly described, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, do not paying under the prerequisite of creative work, can also obtain other accompanying drawings according to these accompanying drawings.
A kind of robot autonomous guiding that Fig. 1 provides for the embodiment of the present invention one and the schematic diagram of keeping away the method for barrier;
The structural representation of a kind of robot that Fig. 2 provides for the embodiment of the present invention one.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is only the present invention's part embodiment, rather than whole embodiment.Based on embodiments of the invention, those of ordinary skills, not making the every other embodiment obtaining under creative work prerequisite, belong to protection scope of the present invention.
The autonomous location of robot, navigating and keeping away barrier is the core support technology of Indoor Robot, robot described in the embodiment of the present invention can comprise all indoor service humanoid robots, household service robot for example, robot helps the elderly, the welcome shopping guide guiding robot on the ground such as market and conference and exhibition center, and be applied to the support that guided robot that emergency condition evacuates etc. all needs autonomous location and navigation feature.
Further, in practical application, for a scene with the large-scale museum of a plurality of exhibition rooms that are interconnected, if robot will complete guiding task in this scene, or assigned address complete a certain task (for example, explanation work etc.), need to possess following basic function:
According to the position of each impact point (these positions can be distributed in different exhibition rooms), carry out rational path planning, guiding spectators arrive all predetermined target point successively according to rational order, and complete appointed task.The realization of this function needs robot to have ability self-align and navigation, can determine according to environmental information the position of oneself, and arrive accurately according to demand preposition.In addition, because guided procedure has spectators' participation, in order to guarantee security, can not spectators or environment there be is any collision and be contacted, need in suitable, dynamically dodge spectators, and adopt " minimum departs from " principle to adjust current path, after being occupied by pedestrian, the position that needs arrive can oneself adjust, the route reaching if all be all blocked or current path and shortest path difference excessive, violate " minimum departs from " principle, while producing irrational path, can seek on-the-spot help.
In addition, sensor installation parts in Hai Xugai robot (for example, laser sensor), for returning to all marginal informations of a plane.Rationally utilize these information can be efficient, realize accurately autonomous location and the guiding of Indoor Robot.
The present invention is based on sensor, on the basis of self-navigation technology, realized the autonomous guiding of many exhibition rooms Indoor Robot and the barrier-avoiding method with guiding natural characteristic.Use the method, only need robot sensors configured on the basis of feedback of self walking, need to not set up in exhibition room inside any special marking, therefore there is universality.And can carry out the navigation of many exhibition rooms in a plurality of adjacent rooms, guide and independently dodge, there is efficient, safe feature.
Embodiment mono-
A kind of robot autonomous guiding that Fig. 1 provides for the embodiment of the present invention one and the schematic diagram of keeping away the method for barrier.As shown in Figure 1, mainly comprise the steps:
The scene map that step 11, basis are obtained carries out reference position to the global path planning of target location.
Robot in the embodiment of the present invention as shown in Figure 2, can comprise: robot chassis with walking feedback function, (be for example placed in sensor on described robot chassis, laser sensor, 10-30m scope, 2-3cm precision), and the calculating unit (for example, computing machine intel i3 and above cpu, 4G internal memory) of connection robot chassis and sensor.
The independent navigation of the embodiment of the present invention is all realized based on sensor with location, needs to obtain current scene scene map complete, for locating carrying out reference position to the path planning of target location; Concrete, can adopt following manner to obtain: by robot, from arbitrary position of current scene, to be started to move, and utilize sensor to obtain the marginal information of object in scene, build an initial map; This robot, when current scene moves, estimates the current location of himself according to motion feedback, and utilizes the method for particle filter, and the real-time information that map corresponding to the described current position of estimating obtained with sensor is mated; After the match is successful, the physical location using described current location as robot, and upgrade the cartographic information of described current location; Dang Gai robot moves after complete one week in current scene, obtains complete, the scene map for locating.
Target location described in the present embodiment can be several, and still, generalized case need to be distinguished the sequencing of described target location, Ji， robot only, after arriving certain target location, just can reach follow-up target location, otherwise, do not meet " naturality " of guided procedure.
Described global path is for the indoor guided procedure of many exhibition rooms " naturality ", to propose specially, when robot is carrying out in the guided procedure of many Rooms, the guide mode of " nature " is sequentially to cover each guiding position with a continuous path the shortest, and in target location, completes its predetermined task.
Step 12, according to scene map and the global path planned, utilize the mode of independent navigation and location to move to described target location, and utilize the information in the place ahead, sensor Real-time Collection path.
This robot autonomous localization mode with and mode during map structuring similar, its difference is, based on after map match success, only to upgrade the position of robot itself, and further do not upgrade map.
Dynamic barrier described in the embodiment of the present invention mainly comprises: pedestrian, spectators etc.
In actual applications, conventionally can encounter following several situation: 1) robot operating path dead ahead is stopped by dynamic barrier; 2) target location that robot the place ahead will arrive is occupied by dynamic barrier.
For situation 1), can determine whether and can cross this dynamic barrier by keeping away barrier mode, and guarantee to keep away path after barrier and original path planning skew is no more than threshold value; If so, proceed to step 14; Otherwise, proceed to step 15.By keeping away barrier mode, cross after this dynamic barrier, adopt " minimum departs from " principle to adjust current route, to guarantee that follow-up path and original path depart from can tolerance range.
In the embodiment of the present invention, after global path planning completes, need robot efficient, safe runs to terminal according to path from starting point.For static environment, because environment in operational process does not have any variation, therefore only need to carry out level and smooth control to robot navigation.In the scene of dynamic change, for example have in the exhibition center of mass viewer audiences visit, because spectators may disturb, robot needs to carry out various adjustment and just can finish the work in predetermined track route.
The window that the embodiment of the present invention is provided with a pre-sizing (can set according to demand) and is moved along with himself by robot, and the original global path that this window is covered is as current local path, to tackle the situation that has dynamic barrier in global path.
When robot confirms that by sensor the place ahead exists dynamic barrier, according to the window interior map obstacle information of real-time update, with and current movement towards with position, estimation direction and the speed of advancing, and sample, obtain some sample path;
From described some sample path, filter out again the legal path that does not have barrier to stop; And successively described legal sample path is evaluated, select to evaluate the highest path as the path of crossing this barrier.Generally, between the highest path of described evaluation and original global path skew in threshold range.
Appreciation condition can comprise: with the mean distance of current local path, with distance of current local path terminal etc.After being sampled in described legal path successively, evaluation result is gathered, using the mean distance with described current local path recently and with the nearest legal path of the terminal of described current local path as evaluating the highest path.
The security that the embodiment of the present invention adopts above-mentioned mode can not only guarantee to keep away barrier, the flatness that can also guarantee to keep away barrier process operation.
On the other hand, by the described barrier mode of keeping away, cross after this barrier, can also adopt smallest offset principle, again plan a path that arrives described target location; Be that traffic direction should overlap with path planning before as far as possible, depart from minimum.
This step can comprise following two kinds of situations: 1) path, robot the place ahead is stopped by dynamic barrier, and cannot cross by keeping away barrier mode described in step 14, now, again plan a paths, if this path and the skew of original global path are no more than threshold value, also within " minimum departs from principle ", according to this path, rerun.Otherwise, by voice mode request the place ahead dynamic barrier, coordinated, temporarily get out of the way; 2) path, robot the place ahead is stopped by spectators, and cannot cross by keeping away barrier mode, and again plans and can not get path, and now most probable situation is exactly that robot surrounding is surrounded by pedestrian or spectators, cannot independently cross.Now, robot is towards described target location, and and described dynamic barrier between distance in threshold range time, by dynamic barrier described in voice message, coordinated, temporarily get out of the way.
Exemplary, again planning that a path that arrives described target location comprises the steps: 1 described in the embodiment of the present invention) robot realtime graphic and described scene map that its sensor is got be superimposed, the map that acquisition comprises real-time dynamic barrier; 2) by this map discrete be the subelement of S n * n (S and n are the integer that is greater than 0), adjacent and interconnect without the blank subelement of dynamic barrier, the character being communicated with according to this subelement four-way, is organized as an adjacency list by this map; 3) dynamic barrier in this adjacency list is expanded outwardly to R/2 length, or while there is dynamic barrier on described target location, using with the immediate position without dynamic barrier, described target location behind new target location, utilize static road network shortest path path derivation algorithm (for example, A* algorithm) again to plan a path that arrives Huo Xin target location, described target location; Wherein, described R represents width or the diameter of described robot.
Further, if current scene is comparatively complicated, for example, comprise a plurality of halls that are interconnected, in the described map that comprises real-time dynamic barrier, each hall is cut apart, and set up the topological diagram between each Room; Zai You robot determines its current location and position, residing hall, Huo Xin target location, target location, searches out the hall that each section of path passed through on described topological diagram, then carries out respectively Local Search, obtains the path of planning again; Now, because searched map only has single hall, search procedure can be accelerated significantly.
On the other hand, for the situation 2 described in step 13), on even described target location, there is dynamic barrier, judge whether described target location to be expanded to laterally to a position that there is no dynamic barrier, and expansion after position and the distance of described target location be no more than threshold value; If so, using the position after described expansion as new target location; Otherwise, and described target location between distance in threshold range, by the mode of voice, remind described dynamic barrier to leave constantly after, arrive described target location.
In addition, the various threshold values described in the embodiment of the present invention, can be according to the actual requirements or experience set accordingly.
The robot autonomous guiding that the embodiment of the present invention proposes and the method for keeping away barrier, adaptability is good, applied range, be not only applicable to general static indoor environment, also be applicable to relatively large-scalely, have a plurality of be interconnected and independent mutually, similar exhibition center exhibition room structure, and the scene of local environment meeting dynamic change in these structures, such as the large-scale exhibition center that has many people to visit and shopping plaza etc.When application, do not need existing scene to carry out any processing, for example add terrestrial reference, visual light mark etc.Have simply, reliable, stable, dispose the advantages such as convenient.
Through the above description of the embodiments, those skilled in the art can be well understood to above-described embodiment and can realize by software, and the mode that also can add necessary general hardware platform by software realizes.Understanding based on such, the technical scheme of above-described embodiment can embody with the form of software product, it (can be CD-ROM that this software product can be stored in a non-volatile memory medium, USB flash disk, portable hard drive etc.) in, comprise some instructions with so that computer equipment (can be personal computer, server, or the network equipment etc.) carry out the method described in each embodiment of the present invention.
The above; be only the present invention's embodiment preferably, but protection scope of the present invention is not limited to this, is anyly familiar with in technical scope that those skilled in the art disclose in the present invention; the variation that can expect easily or replacement, within all should being encompassed in protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of claims.
Claims (7)
1. robot autonomous guiding and a method of keeping away barrier, is characterized in that, the method comprises:
According to the scene map obtaining, carry out reference position to the global path planning of target location;
According to scene map and the global path planned, utilize the mode of independent navigation and location to move to described target location, and utilize the information in the place ahead, sensor Real-time Collection path;
When confirming that the place ahead exists dynamic barrier, determine whether and can cross this dynamic barrier by keeping away barrier mode, and guarantee to keep away path after barrier and be offset and be no more than threshold value with original global path;
If so, by the described barrier mode of keeping away, cross this dynamic barrier; Otherwise the current location of take is planned a path that arrives described target location again as reference position, and the path of guaranteeing new planning is offset and is no more than threshold value with original global path; Or, when the distance with described dynamic barrier is in threshold range, by the mode of voice, remind described dynamic barrier to leave after current path, continue to move to described target location.
2. method according to claim 1, is characterized in that, obtains described scene map and comprises:
From arbitrary position of current scene, start to move, and utilize sensor to obtain the marginal information of object in scene, build an initial map;
When current scene moves, according to motion feedback, to estimate current location, and utilize the method for particle filter, the real-time information that map corresponding to the described current position of estimating obtained with sensor is mated; After the match is successful, using described current location as physical location, and upgrade the cartographic information of described current location;
When move complete one week in current scene after, obtain complete, the scene map for locating.
3. method according to claim 1, is characterized in that, describedly by the described barrier mode of keeping away, is crossed this barrier and is comprised:
The window that one pre-sizing is set and moves along with himself, and the original global path that this window is covered is as current local path;
When there is dynamic barrier in the place ahead, according to the map obstacle information of the window interior of real-time update, and current movement towards with position, estimation direction and the speed of advancing, and sample, obtain some sample path;
From described some sample path, filter out the legal path that does not have barrier to stop, and compare with described current local path successively; Select one with the mean distance of described current local path recently and with the nearest legal path of the terminal of described current local path as the path of crossing this barrier.
4. method according to claim 1, is characterized in that, by the described barrier mode of keeping away, crosses after this barrier, adopts smallest offset principle, again plans a path that arrives described target location.
5. according to the method described in claim 1 or 4, it is characterized in that, describedly again plan that a path that arrives described target location comprises the steps:
The realtime graphic that described sensor is got and described scene map are superimposed, obtain the map that comprises real-time dynamic barrier;
By this map discrete be the subelement of S n * n, adjacent and interconnect without the blank subelement of dynamic barrier, the character being communicated with according to this subelement four-way, is organized as an adjacency list by this map;
Dynamic barrier in this adjacency list is expanded outwardly to R/2 length, or while there is dynamic barrier on described target location, using with the immediate position without dynamic barrier, described target location behind new target location, utilize static road network shortest path path derivation algorithm again to plan a path that arrives Huo Xin target location, described target location; Wherein, described R represents width or the diameter of robot.
6. method according to claim 5, is characterized in that,
If current scene is many Rooms environment, in the described map that comprises real-time dynamic barrier, each hall is cut apart, and set up the topological diagram between each Room;
Determine current location and position, residing hall, Huo Xin target location, target location, on described topological diagram, search out the hall that each section of path passed through, then carry out respectively Local Search, obtain the path of planning again.
7. method according to claim 1, it is characterized in that, if there is dynamic barrier on described target location, judge whether described target location to be expanded to laterally to a position that there is no dynamic barrier, and expansion after position and the distance of described target location be no more than threshold value;
If so, using the position after described expansion as new target location; Otherwise, and described target location between distance in threshold range time, after reminding described dynamic barrier to leave by the mode of voice, arrive described target location.
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