CN104267728A - Mobile robot obstacle avoiding method based on reachable region mass center vector - Google Patents
Mobile robot obstacle avoiding method based on reachable region mass center vector Download PDFInfo
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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Abstract
The invention discloses a mobile robot obstacle avoiding method based on a reachable region mass center vector and relates to a guidance control method, in particular to a mobile robot obstacle avoiding method. The mobile robot obstacle avoiding method aims at solving the problems that in an existing obstacle avoiding technology, a raster map or a polar coordinate obstacle avoiding map needs to be constructed, the process is complex, the calculated amount of an obstacle avoiding algorithm is large, and feasible routes are possibly neglected due to improper raster sizes. According to the mobile robot obstacle avoiding method, a laser scanning radar or a laser ranging camera is used for imaging a mobile robot in the moving direction, a three-dimensional space area or a two-dimensional space area enclosed by the field of view of the laser scanning radar or the laser ranging camera and a point cloud serves as a reachable area of the robot, the center mass location and the synthesis mass center of the reachable area of the robot are calculated, the synthesis mass center vector is mapped into a feasible speed range, the expected speed vector of the mobile robot in a next control period is formed, automatic obstacle avoiding of the mobile robot is achieved, and the mobile robot obstacle avoiding method is suitable for obstacle avoiding in moving of the robot.
Description
Technical field
The present invention relates to Guidance and control method, be specifically related to a kind of moving robot obstacle avoiding method.
Background technology
It is the significant capability of mobile robot that local disturbance evades, and is also to realize one of basis that global optimum's route follows the tracks of, therefore has important Research Significance.Chinese scholars conducts in-depth research barrier-avoiding method, proposes multiple representative achievement in research, mainly comprises:
Virtual space conference (VFF): Virtual space conference basic thought robot motion is assumed to be the motion of robot in virtual force field.Moving target place grid is set to low-potential energy district, robot can be attracted to move to it.Barrier position is set to high potential energy district, repels robot and move to it.Using making a concerted effort as the control of final robot motion of the attractive force of combined action in robot and repulsive force.Its advantage is that algorithm is simple, is easy to Project Realization.Shortcoming, for when partial barriers is more, is set up virtual field of force calculated amount comparatively large, and be there is the problem of local minimum point.
Field of force histogram method (VFH): VFH algorithm carries out the process of two-wheeled to the real time environmental data obtained, and sets up local pole coordinate histogram, and selects histogrammic wave trough position in active window, as the input parameter of robot obstacle-avoiding and control.VFH algorithm advantage is can in narrow space stable operation, and turning that can be level and smooth.
Ranger algorithm: first Ranger algorithm sets up some tracks according to its kinematics model, obtains next step track afterwards by calculating every bar track excellent value.The shortcoming of Ranger algorithm is that the robot topomap owing to using binocular camera to obtain is affected by noise comparatively large, causes using Ranger algorithm to obtain path accuracy poor.
Morphin algorithm: robot environment's topomap rasterizing that this algorithm will be obtained by binocular camera, and analyze by excellent value during each grid and determined value, set up some tracks afterwards, obtained the traversability of every bar track by weighted sum, select the best track of traversability to perform track for next step.
GESTALT algorithm: this algorithm is Morphine algorithm improvement, after the excellent value analyzing grating map and determined value, set up some tracks, and traversability analysis is carried out to every bar track and close to impact point analysis, finally obtains the optimal trajectory that next step performs.Advantage is the track that can obtain taking into account robot dynamics and current terrain environment, shortcoming be sometimes when traversability analysis and conflict close to impact point analysis time, optimum track can not be obtained.
Close to diagram method (ND): first the method is divided into several regions to current robot surrounding environment according to different angles, set up zones of different obstacle degree of approach histogram, obstacle distance in each angular regions can be obtained by analyzing histogram, and identify safety zone.Application afterwards obtains data and these regions can be referred to different scenes, hinders the avoidance obstacle instruction that rule can obtain robot, complete and keep away barrier task according to keeping away of each scene.
Summary of the invention
The present invention needs to build grating map or polar coordinates obstacle figure to solve existing barrier technique of keeping away, process is loaded down with trivial details, obstacle avoidance algorithm calculated amount is large, and lattice dimensions may cause the uncared-for problem of feasible path improperly, and then propose a kind of moving robot obstacle avoiding method based on range coverage barycenter vector.
Based on a moving robot obstacle avoiding method for range coverage barycenter vector, its step is as follows:
Step one: utilize scanning laser radar or slr camera to the imaging of mobile robot's direct of travel, obtains mobile robot front three-dimensional or two-dimentional cloud data, as the metrical information of obstacle avoidance;
Step 2: according to the basic imaging principle of scanning laser radar or slr camera, the three dimensions surround scanning laser radar or range finding viewing field of camera and some cloud or two dimensional surface region are as robot range coverage;
Step 3: the range coverage determined in step 2 is considered as homogeneous body, calculates its centroid position vector;
Step 4: according to robot movable target point direction, and the range coverage centroid position vector that step 3 obtains, calculate synthesis barycenter vector;
Step 5: according to the maximum measuring distance of mobile robot's maximum safety moving speed, minimum distance of obstacle, scanning laser radar or slr camera, synthesis barycenter vector is mapped in the middle of feasible speed scope, forms next control cycle mobile robot desired speed vector.
The concrete operation step of the centroid position Vector operation described in step 3 is:
Set up robot body coordinate system, coordinate origin is robot barycenter, and y-axis is robot working direction, and x-axis is parallel with robot hind axle, and points on the right side of working direction, z-axis and x, and y-axis becomes right-handed system, if scanning laser radar overlaps with robot body system;
If scanning laser radar or slr camera laser wave beamwidth are θ, namely beam width is θ, and i-th laser beam range measurement of scanning laser radar or slr camera is d
i; Laser beam covering space is approximately cone, then this volume of cone
suppose that the homogeneous volume density of range coverage is 1, then this cone quality m
i=V
i; This cone centroid position vector is P
i=(x
i, y
i, z
i),
Wherein α, β be respectively this laser beam scanning radar or range finding viewing field of camera in crab angle and the angle of pitch;
Range coverage centroid position is P
v=(x
v, y
v, z
v),
Wherein n measures laser beam quantity for this.
When moving in the robot body coordinate system that robot sets up in step 3, if mobile robot moves in two dimensional surface, z-axis directional data being set to 0, only considering the vector in x-y plane.
The concrete operation step of the synthesis barycenter Vector operation described in step 4 is:
If robot movable target point direction unit vector is P
t=(x
t, y
t, z
t), then synthesizing barycenter vector is P
j=P
v+ c||P
v|| P
t, wherein c is regulation coefficient, || P
v|| be the length of barycenter vector.
The concrete operation step that synthesis barycenter vector described in step 5 calculates to feasible speed range mappings is:
When whole laser beam range measurement is maximum measure distance distance, calculate range coverage barycenter vector P
max, when whole laser beam range measurement is tolerable minimum distance of obstacle, calculate range coverage barycenter vector P
min, next period velocity vector is
wherein v
maxfor the maximum safety moving speed of robot movement.
The present invention determines mobile robot's range coverage by two dimension or three dimensional point cloud, range coverage centroid position vector and moving target point vector are synthesized, according to information MAP resultant vectors such as the maximum safety moving speed of robot and the minimum distance of obstacle of tolerable within the scope of feasible speed, as the desired speed vector of next control cycle of mobile robot, realize the autonomous obstacle avoidance of mobile robot.
The present invention's principle compared with the technology such as existing Virtual space conference, field of force histogram method is simple, do not need to build rasterizing map or polar coordinates histogram, therefore do not exist in rasterizing process and choose lattice dimensions improperly and may cause the uncared-for problem of feasible path, also make calculated amount significantly reduce simultaneously, in the two-dimensional map of 100 × 100, the present invention is compared with overall Virtual space conference, and calculated amount reduces about 50%; In addition the present invention does not need to consider mobile robot's dynamics, only just can provide continuous print mobile robot desired speed according to each control cycle inner laser radargrammetry value, be more conducive to Project Realization.
Accompanying drawing explanation
Fig. 1 is process flow diagram of the present invention;
Fig. 2 is robot body coordinate system and three dimensional point cloud instrumentation plan;
Fig. 3 is two-dimensional points cloud DATA REASONING schematic diagram;
Fig. 4 be robot move at two dimensional surface keep away barrier path profile.
Embodiment
Specifically embodiment one: composition graphs 1 and Fig. 2 illustrate present embodiment, a kind of moving robot obstacle avoiding method based on range coverage barycenter vector, comprises the steps:
Step one: utilize scanning laser radar or slr camera to the imaging of mobile robot's direct of travel, obtains mobile robot front three-dimensional or two-dimentional cloud data, as the metrical information of obstacle avoidance;
Step 2: according to the basic imaging principle of scanning laser radar or slr camera, the three dimensions surround scanning laser radar or range finding viewing field of camera and some cloud or two dimensional surface region are as robot range coverage;
Step 3: the range coverage determined in step 2 is considered as homogeneous body, calculates its centroid position vector;
Step 4: according to robot movable target point direction, and the range coverage centroid position vector that step 3 obtains, calculate synthesis barycenter vector;
Step 5: according to the maximum measuring distance of mobile robot's maximum safety moving speed, minimum distance of obstacle, scanning laser radar or slr camera, synthesis barycenter vector is mapped in the middle of feasible speed scope, forms next control cycle mobile robot desired speed vector.
Specifically embodiment two: the concrete operation step of the centroid position Vector operation described in the step 3 described in present embodiment is:
Set up robot body coordinate system as shown in Figure 3, coordinate origin is robot barycenter, and y-axis is robot working direction, x-axis is parallel with robot hind axle, and points on the right side of working direction, z-axis and x, y-axis becomes right-handed system, if scanning laser radar overlaps with robot body system;
If scanning laser radar or slr camera laser wave beamwidth are θ, namely beam width is θ, and i-th laser beam range measurement of scanning laser radar or slr camera is d
i; Laser beam covering space is approximately cone, then this volume of cone
suppose that the homogeneous volume density of range coverage is 1, then this cone quality m
i=V
i; Because cone barycenter is positioned on circular cone height line, be high apart from conical tip distance
so this cone centroid position vector is P
i=(x
i, y
i, z
i),
Wherein α, β be respectively this laser beam scanning radar or range finding viewing field of camera in crab angle and the angle of pitch;
Range coverage centroid position is P
v=(x
v, y
v, z
v),
Wherein n measures laser beam quantity for this.
Other step is identical with embodiment one.
Embodiment three: in present embodiment, when moving in the robot body coordinate system that robot sets up in step 3, if mobile robot moves in two dimensional surface, z-axis directional data is set to 0, only consider the vector in x-y plane, what robot moved at two dimensional surface keeps away barrier figure as shown in Figure 4.
Other step is identical with embodiment two.
Embodiment four: the concrete operation step of the synthesis barycenter Vector operation described in present embodiment step 4 is:
If robot movable target point direction unit vector is P
t=(x
t, y
t, z
t), then synthesizing barycenter vector is P
j=P
v+ c||P
v|| P
t, wherein c is regulation coefficient, || P
v|| be the length of barycenter vector.
Other step and embodiment one, two or three identical.
Embodiment five: the concrete operation step that the synthesis barycenter vector described in present embodiment step 5 calculates to feasible speed range mappings is:
When whole laser beam range measurement is maximum measure distance distance, calculate range coverage barycenter vector P
max, when whole laser beam range measurement is tolerable minimum distance of obstacle, calculate range coverage barycenter vector P
min, next period velocity vector is
wherein v
maxfor the maximum safety moving speed of robot movement.
Other step is identical with embodiment four.
Claims (5)
1., based on a moving robot obstacle avoiding method for range coverage barycenter vector, it is characterized in that it comprises the steps:
Step one: utilize scanning laser radar or slr camera to the imaging of mobile robot's direct of travel, obtains mobile robot front three-dimensional or two-dimentional cloud data, as the metrical information of obstacle avoidance;
Step 2: according to the basic imaging principle of scanning laser radar or slr camera, the three dimensions surround scanning laser radar or range finding viewing field of camera and some cloud or two dimensional surface region are as robot range coverage;
Step 3: the range coverage determined in step 2 is considered as homogeneous body, calculates its centroid position vector;
Step 4: according to robot movable target point direction, and the range coverage centroid position vector that step 3 obtains, calculate synthesis barycenter vector;
Step 5: according to the maximum measuring distance of mobile robot's maximum safety moving speed, minimum distance of obstacle, scanning laser radar or slr camera, synthesis barycenter vector is mapped in the middle of feasible speed scope, forms next control cycle mobile robot desired speed vector.
2. a kind of moving robot obstacle avoiding method based on range coverage barycenter vector according to claim 1, it is characterized in that the centroid position Vector operation described in step 3, step is as follows:
Set up robot body coordinate system, coordinate origin is robot barycenter, and y-axis is robot working direction, and x-axis is parallel with robot hind axle, and points on the right side of working direction, z-axis and x, and y-axis becomes right-handed system, if scanning laser radar overlaps with robot body system;
If scanning laser radar or slr camera laser wave beamwidth are θ, namely beam width is θ, and i-th laser beam range measurement of scanning laser radar or slr camera is d
i; Laser beam covering space is approximately cone, then this volume of cone
suppose that the homogeneous volume density of range coverage is 1, then this cone quality m
i=V
i; This cone centroid position vector is P
i=(x
i, y
i, z
i),
Wherein α, β be respectively this laser beam scanning radar or range finding viewing field of camera in crab angle and the angle of pitch;
Range coverage centroid position is P
v=(x
v, y
v, z
v),
Wherein n measures laser beam quantity for this.
3. a kind of moving robot obstacle avoiding method based on range coverage barycenter vector according to claim 2, when it is characterized in that moving in the robot body coordinate system that robot sets up in step 3, if mobile robot moves in two dimensional surface, z-axis directional data is set to 0, only considers the vector in x-y plane.
4. a kind of moving robot obstacle avoiding method based on range coverage barycenter vector according to claim 1,2 or 3, it is characterized in that the computing method of the synthesis barycenter vector described in step 4, concrete steps are as follows:
If robot movable target point direction unit vector is P
t=(x
t, y
t, z
t), then synthesizing barycenter vector is P
j=P
v+ c||P
v|| P
t, wherein c is regulation coefficient, || P
v|| be the length of barycenter vector.
5. a kind of moving robot obstacle avoiding method based on range coverage barycenter vector according to claim 4, it is characterized in that the computing method of the synthesis barycenter vector described in step 5 to feasible speed range mappings, concrete steps are as follows:
When whole laser beam range measurement is maximum measure distance distance, calculate range coverage barycenter vector P
max, when whole laser beam range measurement is tolerable minimum distance of obstacle, calculate range coverage barycenter vector P
min, next period velocity vector is
wherein v
maxfor the maximum safety moving speed of robot movement.
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