CN108072369A - A kind of Mobile Robotics Navigation method of configurable strategy - Google Patents
A kind of Mobile Robotics Navigation method of configurable strategy Download PDFInfo
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- CN108072369A CN108072369A CN201611005730.6A CN201611005730A CN108072369A CN 108072369 A CN108072369 A CN 108072369A CN 201611005730 A CN201611005730 A CN 201611005730A CN 108072369 A CN108072369 A CN 108072369A
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- robot
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- 238000000034 method Methods 0.000 title claims abstract description 31
- 230000004888 barrier function Effects 0.000 claims abstract description 6
- 238000011217 control strategy Methods 0.000 claims description 5
- 238000004364 calculation method Methods 0.000 claims description 2
- 238000006073 displacement reaction Methods 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000002922 simulated annealing Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
-
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of Mobile Robotics Navigation method of configurable strategy, applied to Mobile Robotics Navigation field.Navigation procedure is divided into two stages of path planning and motion control by the method.The path planning stage cooks up optimal path according to landform and barrier according to certain object function, the motion control stage is responsible for that robot is controlled to reach the nodes of locations on path, two stages can select suitable strategy according to actual conditions, and this method only limits the result needed in two stages.Such advantage is flexibly tackle varying environment and landform or even switches Different Strategies in the process of running.
Description
Technical field
The present invention relates to automatically controlling and mobile robot field, a kind of Mobile Robotics Navigation side of configurable strategy
Navigation procedure is divided into two parts of path planning and motion control by method, the scheme.
Background technology
Robot navigation is robot by sensor senses ambient enviroment, planning mobile route, realizes there is being obstacle
In the case of can accurately reach the process of specified target location.Navigation is divided into path planning and motion control two by this method
A part.
The path planning of mobile robot is according to the whether known global path planning and base being divided into based on map of environment
In the local paths planning of sensor.Sensor-based local paths planning method usually has：Artificial Potential Field Method, heredity are calculated
Method, simulated annealing, ant group algorithm.
In terms of motion control, robot car body has the nonholonomic constraints conditions such as skidding, so it is that a height is non-
Linear incomplete control system has comparable difficulty in control of which.At present problems faced mainly include with
Lower three aspects content：Point Stabilization, path trace problem, track following problem.
Because the huge number of sensor, a hypothesis robot sensor of the invention only possesses most basic function：It perceives
Front obstacle.
The content of the invention
The present invention provides a kind of Mobile Robotics Navigation method of configurable strategy.The method is divided into path planning and fortune
Two stages of dynamic control.The path planning stage is responsible for providing path node.Motion control portion is responsible for that robot is controlled to reach road
Node in footpath.
The technical solution adopted by the present invention is：The coordinate position of target object is calculated first, further according to the path used
Planning strategy provides next node.Then node is gone to by Motion Control Strategies control, such as runs into needs path planning again
Situation, then paths planning method is waited to provide new node.Technical scheme general flow chart is as shown in Figure 1.
The present invention realizes that step is as follows：
(1) after robot finds target, target location is calculated, gives result of calculation to Path Planning；
(2) each path node is calculated according to Path Planning, gives the nodes of locations to be reached in next step to fortune
Dynamic control strategy；
(3) etc. next step nodes of locations to be given, Motion Control Strategies control robot go to designated position node；
(4) judge whether robot reaches target location, be, terminate, otherwise perform step (5)；
(5) judge whether to need path planning again, be to perform step (2), otherwise perform that step (3).
Again the situation of the path planning is respectively：
1) robot runs into barrier；
2) target object moves, and displacement distance is more than r, and r is the error that robot is allowed to reach target；
3) robot reaches node location.
It it is an advantage of the current invention that can be according to specific situation configuration path planning strategy and Motion Control Strategies.Even
When environment varies widely can in real time renewal reward theorem flexibly to tackle.
Description of the drawings
Fig. 1 is a kind of Mobile Robotics Navigation method flow diagram of configurable strategy
Fig. 2 is that schematic diagram is embodied in a kind of Mobile Robotics Navigation method of configurable strategy
Specific embodiment
With reference to specific embodiment, the present invention is further explained.These embodiments are merely to illustrate the present invention and do not have to
In limitation the scope of protection of present invention.
Triangular representation robot as shown in Figure 2, black dot represent target object, and the circle outside dot represents radius r
Scope.t1, t2, t3Moment, robot was respectively in Q1, Q2, Q3Position, t1, t3Moment target is in T respectively1, T3Position.To
Up to using motion control method control movement during each node.Entire moving process is as follows：
(1) in t1Moment robot finds target in T1Position, and at this time without finding barrier, therefore path planning
The path that method provides is Q1T1。
(2) when in t2During the moment, robot is in Q2Location aware is to line segment of the barrier shaped like AB, then according to path planning
Method obtains two path candidate Q2A′T1And Q2B′T1, due to Q2A′T1Take it is shorter so final choice path Q2A′T1。
(3) when robot reaches A ' positions, line segment of the front obstacle shaped like AC is perceived, due to having there is line segment AB
Presence, so the position near point C can not go directly to target location, therefore finally in point A paths selected around
Intermediate node A ", final path are A ' A " T1。
(4) as arrival t3During the moment, robot is in Q3Position, and find that target is moved to T2At position, due to centre
There is no barrier, the path that paths planning method provides is Q3T2, i.e. next node position is T2。
(5) because T2The T gone to before positional distance robot1Position is nearer, and less than r, movement technique is only right at this time
Follow-up unfinished portion is finely adjusted.
Claims (5)
- A kind of 1. Mobile Robotics Navigation method of configurable strategy, it is characterised in that navigation procedure is divided into path planning and fortune Two stages of dynamic control.
- 2. method according to claim 1, it is characterised in that realize that step is as follows：(1) after robot finds target, target location is calculated, gives result of calculation to Path Planning；(2) each path node is calculated according to Path Planning, gives the nodes of locations to be reached in next step to movement control System strategy；(3) etc. next step nodes of locations to be given, Motion Control Strategies control robot go to designated position node；(4) judge whether robot reaches target location, be, terminate, otherwise perform step (5)；(5) judge whether to need path planning again, be to perform step (2), otherwise perform that step (3).
- 3. method according to claim 2, it is characterised in that：The target is the position specified in advance, the shifting specified in advance Animal body or the stationary object specified in advance.
- 4. method according to claim 2, it is characterised in that：The path node is from robot present position to target position A series of coordinate points put, start node are robot present position, the last one node is target location.
- 5. method according to claim 2, which is characterized in that the condition of the path planning again is：1) robot runs into barrier；2) target object moves, and displacement distance is more than r, and r is the error that robot is allowed to reach target；3) robot reaches target location.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611005730.6A CN108072369A (en) | 2016-11-16 | 2016-11-16 | A kind of Mobile Robotics Navigation method of configurable strategy |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611005730.6A CN108072369A (en) | 2016-11-16 | 2016-11-16 | A kind of Mobile Robotics Navigation method of configurable strategy |
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| CN108072369A true CN108072369A (en) | 2018-05-25 |
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| CN201611005730.6A Pending CN108072369A (en) | 2016-11-16 | 2016-11-16 | A kind of Mobile Robotics Navigation method of configurable strategy |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021027966A1 (en) * | 2019-08-15 | 2021-02-18 | 纳恩博（常州）科技有限公司 | Traveling method, traveling device, and storage medium |
| CN113324761A (en) * | 2020-02-28 | 2021-08-31 | 苏州宝时得电动工具有限公司 | Electric tool, wheel slip determination system and method |
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| CN101650189A (en) * | 2008-08-14 | 2010-02-17 | 微星科技股份有限公司 | Method for planning walking path and navigation method for avoiding dynamic barrier |
| CN101667037A (en) * | 2008-09-03 | 2010-03-10 | 中国科学院自动化研究所 | Feasible channel-based robot target tracking method |
| KR20140031316A (en) * | 2011-06-13 | 2014-03-12 | 마이크로소프트 코포레이션 | Tracking and following of moving objects by a mobile robot |
| CN102778229B (en) * | 2012-05-31 | 2015-05-27 | 重庆邮电大学 | Mobile Agent path planning method based on improved ant colony algorithm under unknown environment |
| CN104834309A (en) * | 2015-04-10 | 2015-08-12 | 浙江工业大学 | Single mobile robot optimal itineration control method based on target tracking control strategy |
| CN105116902A (en) * | 2015-09-09 | 2015-12-02 | 北京进化者机器人科技有限公司 | Mobile robot obstacle avoidance navigation method and system |
| CN105716613A (en) * | 2016-04-07 | 2016-06-29 | 北京进化者机器人科技有限公司 | Method for planning shortest path in robot obstacle avoidance |
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- 2016-11-16 CN CN201611005730.6A patent/CN108072369A/en active Pending
Patent Citations (7)
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| CN101650189A (en) * | 2008-08-14 | 2010-02-17 | 微星科技股份有限公司 | Method for planning walking path and navigation method for avoiding dynamic barrier |
| CN101667037A (en) * | 2008-09-03 | 2010-03-10 | 中国科学院自动化研究所 | Feasible channel-based robot target tracking method |
| KR20140031316A (en) * | 2011-06-13 | 2014-03-12 | 마이크로소프트 코포레이션 | Tracking and following of moving objects by a mobile robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2021027966A1 (en) * | 2019-08-15 | 2021-02-18 | 纳恩博（常州）科技有限公司 | Traveling method, traveling device, and storage medium |
| CN113324761A (en) * | 2020-02-28 | 2021-08-31 | 苏州宝时得电动工具有限公司 | Electric tool, wheel slip determination system and method |
| CN113324761B (en) * | 2020-02-28 | 2023-03-28 | 苏州宝时得电动工具有限公司 | Electric tool, wheel slip determination system and method |
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