CN110888443A - Rotary obstacle avoidance method and system for mobile robot - Google Patents
Rotary obstacle avoidance method and system for mobile robot Download PDFInfo
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- CN110888443A CN110888443A CN201911227015.0A CN201911227015A CN110888443A CN 110888443 A CN110888443 A CN 110888443A CN 201911227015 A CN201911227015 A CN 201911227015A CN 110888443 A CN110888443 A CN 110888443A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
Abstract
The invention discloses a rotary obstacle avoidance method and a rotary obstacle avoidance system for a mobile robot, wherein the method comprises the steps of firstly, acquiring parameters of the mobile robot; secondly, constructing a robot model according to the parameters; determining the safety region of the laser sensor according to the robot model again; then determining a target site; finally, the target station is reached by avoiding the barrier point according to the safety area; according to the invention, the safety region of the laser sensor is set according to the robot model, so that a safe moving range is planned for the mobile robot, the probability that the mobile robot collides with an obstacle during rotation due to the size, shape and the like of the mobile robot is reduced, and the purpose of rotating and avoiding the obstacle is achieved.
Description
Technical Field
The invention relates to the technical field of mobile robot navigation and path planning, in particular to a rotary obstacle avoidance method and system for a mobile robot.
Background
An important sign of the mobile robot intelligence is autonomous navigation, and a basic requirement for realizing the autonomous navigation of the mobile robot is obstacle avoidance. When the mobile robot senses static and dynamic objects which obstruct the mobile robot to pass through the sensor in the walking process, the obstacle is effectively avoided according to a certain method, and finally the mobile robot reaches a target station. With the development of computer technology, sensor technology and artificial intelligence, the obstacle avoidance and autonomous navigation technology of mobile robots has achieved great achievements, the application field is continuously expanded, and the application complexity is higher and higher.
However, currently, most of the optimization for obstacle avoidance methods focuses on the algorithm level, and in practical application, which places are not reached by the mobile robot due to the size problem of the mobile robot is not considered.
Disclosure of Invention
The invention aims to provide a rotary obstacle avoidance method and a rotary obstacle avoidance system for a mobile robot, so that the rotary obstacle avoidance of the mobile robot can reach a target station.
In order to achieve the above object, the present invention provides a method for avoiding obstacles by rotating a mobile robot, the method comprising:
step S1: acquiring parameters of the mobile robot; the parameters include: the length of the chassis, the width of the chassis, the offset distance for installing the driving wheel, the installation position of the laser sensor on the mobile robot and the working angle range of the laser sensor;
step S2: constructing a robot model according to the parameters;
step S3: determining a safety region of the laser sensor according to the robot model;
step S4: determining a target station, wherein the target station is a position to be reached when the mobile robot works;
step S5: and avoiding the barrier point to reach the target station according to the safety area.
Optionally, the determining the safety region of the laser sensor according to the robot model specifically includes:
step S31: determining the rotation center of the chassis according to the offset distance between the robot model and the installation of the driving wheel;
step S32: determining a distance from the center of rotation to the center of the laser sensor;
step S33: determining the distance from the rotating center to the edge of the chassis;
step S34: determining the safe distance of the laser sensor according to the distance from the rotating center to the center of the laser sensor and the distance from the rotating center to the edge of the chassis;
step S35: and taking the area which is larger than the safe distance as a safe area.
Optionally, the avoiding the obstacle point according to the safety area to reach the target station specifically includes:
step S51: judging whether the target station is in a set working range or not; if the target station is not in the set working range, returning to the step S4 to re-determine the target station; if the target station is within the set working range, executing step S52;
step S52: determining whether the barrier point is within the safe area at the target site; if the obstacle point is in the safe area at the target station, a warning is given to prompt that the target station cannot rotate, and the method returns to the step S4 to re-determine the target station; if the obstacle point is not within the safety zone at the target station, performing step S53;
step S53: controlling the mobile robot to move;
step S54: judging whether the distance information between the mobile robot and the obstacle point monitored in real time is smaller than the safe distance; if the distance information is smaller than the safe distance, sending an error with a virtual obstacle point, and at the moment, manually controlling the mobile robot to a safe area; if the distance information is greater than or equal to the safe distance, the process returns to step S53 until the target station is reached.
Optionally, the determining a distance from the rotation center to the center of the laser sensor is performed by a specific formula:
wherein d is the distance from the rotating center to the center of the laser sensor, (x, y) are the position coordinates of the laser sensor, P is the offset distance of the driving wheel, and P is more than or equal to 0.
Optionally, the determining a distance from the rotation center to an edge of the chassis is performed by a specific formula:
wherein L is the distance from the rotating center to the edge of the chassis, L is the length of the chassis, D is the width of the chassis, P is the offset distance for mounting the driving wheel, and P is more than or equal to 0.
Optionally, the safety distance of the laser sensor is determined according to the distance from the rotation center to the center of the laser sensor and the distance from the rotation center to the edge of the chassis, and the specific formula is as follows:
r＝l-d+ε；
wherein r is the safe distance of the laser sensor, l is the distance from the rotating center to the edge of the chassis, d is the distance from the rotating center to the center of the laser sensor, and epsilon is the distance from the outer contour of the mobile robot to the obstacle.
The invention also provides a system for rotating and avoiding obstacles for the mobile robot, which comprises:
the acquisition module is used for acquiring parameters of the mobile robot; the parameters include: the length of the chassis, the width of the chassis, the offset distance for installing the driving wheel, the installation position of the laser sensor on the mobile robot and the working angle range of the laser sensor;
the model building module is used for building a robot model according to the parameters;
a safety region determining module for determining a safety region of the laser sensor according to the robot model;
the target station determining module is used for determining a target station, and the target station is a position to be reached when the mobile robot works;
and the execution module is used for reaching the target station by avoiding the barrier point according to the safety area.
Optionally, the safety area determining module specifically includes:
the rotation center determining unit is used for determining the rotation center of the chassis according to the offset distance between the robot model and the installation of the driving wheel;
a first distance determination unit for determining a distance from the rotation center to a center of the laser sensor;
a second distance determining unit for determining a distance from the rotation center to an edge of the chassis;
the safe distance determining unit is used for determining the safe distance of the laser sensor according to the distance from the rotating center to the center of the laser sensor and the distance from the rotating center to the edge of the chassis;
and the safety zone determining unit is used for taking the zone which is greater than the safety distance as a safety zone.
Optionally, the execution module specifically includes:
the first judgment unit is used for judging whether the target station is in a set working range or not; if the target site is not in the set working range, returning to a target site determining module, and re-determining the target site; if the target station is in the set working range, executing a second judgment unit;
a second judging unit, configured to judge whether the obstacle point is in the safety area at the target station; if the obstacle point at the target station is in the safe area, sending a warning to prompt that the target station cannot rotate, returning to a target station determining module, and re-determining the target station; executing a "control unit" if the obstacle point is not within the safe zone at the target site;
the control unit is used for controlling the mobile robot to move;
the third judging unit is used for judging whether the distance information between the mobile robot and the obstacle point monitored in real time is smaller than the safe distance; if the distance information is smaller than the safe distance, sending an error with a virtual obstacle point, and at the moment, manually controlling the mobile robot to a safe area; and if the distance information is greater than or equal to the safe distance, returning to the control unit until the target station is reached.
Optionally, the safety distance of the laser sensor is determined according to the distance from the rotation center to the center of the laser sensor and the distance from the rotation center to the edge of the chassis, and the specific formula is as follows:
r＝l-d+ε；
wherein r is the safe distance of the laser sensor, l is the distance from the rotating center to the edge of the chassis, d is the distance from the rotating center to the center of the laser sensor, and epsilon is the distance from the outer contour of the mobile robot to the obstacle.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the invention discloses a rotary obstacle avoidance method and a rotary obstacle avoidance system for a mobile robot, wherein the method comprises the steps of firstly, acquiring parameters of the mobile robot; secondly, constructing a robot model according to the parameters; determining the safety region of the laser sensor according to the robot model again; then determining a target site; finally, the target station is reached by avoiding the barrier point according to the safety area; according to the invention, the safety region of the laser sensor is set according to the robot model, so that a safe moving range is planned for the mobile robot, the probability that the mobile robot collides with an obstacle during rotation due to the size, shape and the like of the mobile robot is reduced, and the purpose of rotating and avoiding the obstacle is achieved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a flowchart of a method for avoiding obstacles by rotating a mobile robot according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a robot model according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of the geometry of a robot model and its relationship to obstacles according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a rotation center of a mobile robot according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a mobile robot colliding with an obstacle outside a safe distance according to an embodiment of the present invention;
fig. 6 is a block diagram of a mobile robot rotation obstacle avoidance system according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a rotary obstacle avoidance method and a rotary obstacle avoidance system for a mobile robot, so that the rotary obstacle avoidance of the mobile robot can reach a target station.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Fig. 1 is a flowchart of a method for avoiding obstacles by rotating a mobile robot according to an embodiment of the present invention, and as shown in fig. 1, the present invention provides a method for avoiding obstacles by rotating a mobile robot, where the method includes:
step S1: acquiring parameters of the mobile robot; the parameters include: the length of the chassis, the width of the chassis, the offset distance for installing the driving wheel, the installation position of the laser sensor on the mobile robot and the working angle range of the laser sensor;
step S2: constructing a robot model according to the parameters;
step S3: determining a safety region of the laser sensor according to the robot model;
step S4: determining a target station, wherein the target station is a position to be reached when the mobile robot works;
step S5: and avoiding the barrier point to reach the target station according to the safety area.
The individual steps are discussed in detail below:
step S2: constructing a robot model according to the parameters; the robot model is shown in fig. 2-3, wherein O is a chassis rotation center of the robot model, D is a distance from the rotation center to the center of the laser sensor, L is an edge distance from the rotation center to the chassis, (x, y) are position coordinates for mounting the laser sensor, P is an offset distance for mounting a driving wheel, P is more than or equal to 0, L is the length of the chassis, D is the width of the chassis, and epsilon is a distance from an outer contour of the mobile robot to an obstacle;
step S3: determining a safety region of the laser sensor according to the robot model, specifically comprising:
step S31: determining a rotation center of the chassis according to the robot model and the offset distance of the driving wheel, wherein the rotation center of the chassis is specifically shown in fig. 4, fig. 4(a) is a schematic view of the rotation center corresponding to the non-offset distance, fig. 4(b) is a schematic view of the rotation center corresponding to the backward offset distance, and fig. 4(c) is a schematic view of the rotation center corresponding to the forward offset distance.
Step S32: determining the distance from the rotation center to the center of the laser sensor, wherein the specific formula is as follows:
wherein d is the distance from the rotating center to the center of the laser sensor, (x, y) are the position coordinates of the laser sensor, P is the offset distance of the driving wheel, and P is more than or equal to 0.
Step S33: determining the distance from the rotation center to the edge of the chassis, wherein the specific formula is as follows:
wherein L is the distance from the rotating center to the edge of the chassis, L is the length of the chassis, D is the width of the chassis, P is the offset distance for mounting the driving wheel, and P is more than or equal to 0.
Step S34: determining the safe distance of the laser sensor according to the distance from the rotating center to the center of the laser sensor and the distance from the rotating center to the edge of the chassis, wherein the specific formula is as follows:
r＝l-d+ε；
wherein r is the safe distance of the laser sensor, l is the distance from the rotating center to the edge of the chassis, d is the distance from the rotating center to the center of the laser sensor, and epsilon is the distance from the outer contour of the mobile robot to the obstacle.
Step S35: taking the area formed by the distance greater than the safety distance as a safety area, wherein the specific formula is as follows:
R＞r；
wherein, R is a safe area, and R is the safe distance of the laser sensor.
Step S5: the method for avoiding the obstacle point to reach the target station according to the safety area specifically includes:
step S51: judging whether the target station is in a set working range or not; if the target station is not in the set working range, returning to the step S4 to re-determine the target station; if the target station is within the set working range, executing step S52; the set working range is determined according to specific actual requirements;
step S52: determining whether the barrier point is within the safe area at the target site; if the obstacle point is in the safe area at the target station, a warning is sent to prompt that the target station cannot rotate, and the method returns to the step S4 to re-determine the target station, as shown in fig. 5 specifically; if the obstacle point is not within the safety zone at the target station, performing step S53;
step S53: controlling the mobile robot to move;
step S54: judging whether the distance information between the mobile robot and the obstacle point monitored in real time is smaller than the safe distance; if the distance information is smaller than the safe distance, sending an error with a virtual obstacle point, and at the moment, manually controlling the mobile robot to a safe area; if the distance information is greater than or equal to the safe distance, the process returns to step S53 until the target station is reached.
Fig. 6 is a block diagram of a mobile robot rotation obstacle avoidance system according to an embodiment of the present invention, and as shown in fig. 6, the present invention provides a mobile robot rotation obstacle avoidance system, including:
the acquisition module 1 is used for acquiring parameters of the mobile robot; the parameters include: the length of the chassis, the width of the chassis, the offset distance for installing the driving wheel, the installation position of the laser sensor on the mobile robot and the working angle range of the laser sensor;
the model building module 2 is used for building a robot model according to the parameters;
a safety region determining module 3, configured to determine a safety region of the laser sensor according to the robot model;
a target station determining module 4, configured to determine a target station, where the target station is a position to be reached when the mobile robot works;
and the execution module 5 is used for avoiding the barrier point according to the safety area and reaching the target station.
The various modules are discussed in detail below:
the safety area determining module 3 specifically includes:
the rotation center determining unit is used for determining the rotation center of the chassis according to the offset distance between the robot model and the installation of the driving wheel;
a first distance determining unit, configured to determine a distance from the rotation center to the center of the laser sensor, where the specific formula is:
wherein d is the distance from the rotating center to the center of the laser sensor, (x, y) are the position coordinates of the laser sensor, P is the offset distance of the driving wheel, and P is more than or equal to 0.
A second distance determining unit, configured to determine a distance from the rotation center to an edge of the chassis, where the specific formula is:
wherein L is the distance from the rotating center to the edge of the chassis, L is the length of the chassis, D is the width of the chassis, P is the offset distance for mounting the driving wheel, and P is more than or equal to 0.
A safe distance determining unit, configured to determine a safe distance of the laser sensor according to a distance from the rotation center to a center of the laser sensor and a distance from the rotation center to an edge of the chassis, where the specific formula is:
wherein L is the distance from the rotating center to the edge of the chassis, L is the length of the chassis, D is the width of the chassis, P is the offset distance for mounting the driving wheel, and P is more than or equal to 0.
A safety area determining unit, configured to use an area greater than the safety distance as a safety area, where the specific formula is:
r＝l-d+ε；
wherein r is the safe distance of the laser sensor, l is the distance from the rotating center to the edge of the chassis, d is the distance from the rotating center to the center of the laser sensor, and epsilon is the distance from the outer contour of the mobile robot to the obstacle.
The execution module 5 specifically includes:
the first judgment unit is used for judging whether the target station is in a set working range or not; if the target site is not in the set working range, returning to a target site determining module, and re-determining the target site; if the target station is in the set working range, executing a second judgment unit;
a second judging unit, configured to judge whether the obstacle point is in the safety area at the target station; if the obstacle point at the target station is in the safe area, sending a warning to prompt that the target station cannot rotate, returning to a target station determining module, and re-determining the target station; executing a "control unit" if the obstacle point is not within the safe zone at the target site;
the control unit is used for controlling the mobile robot to move;
the third judging unit is used for judging whether the distance information between the mobile robot and the obstacle point monitored in real time is smaller than the safe distance; if the distance information is smaller than the safe distance, sending an error with a virtual obstacle point, and at the moment, manually controlling the mobile robot to a safe area; and if the distance information is greater than or equal to the safe distance, returning to the control unit until the target station is reached.
According to the invention, a safety distance is set between the mobile robot and the obstacle according to the self geometric size and the geometric shape of the mobile robot, so that the collision between the mobile robot and the obstacle during rotation caused by too close distance between the mobile robot and the obstacle is avoided.
In addition, the method disclosed by the invention firstly determines a safe area through analog calculation, then adjusts and determines the target station according to the safe area, and finally controls the mobile robot to move according to the set target station, so that the control of the mobile robot is realized after theoretical calculation, the probability of collision between the mobile robot and an obstacle due to rotation in the moving process is greatly reduced, and the accuracy of mobile navigation is further improved.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (10)
1. A rotary obstacle avoidance method for a mobile robot is characterized by comprising the following steps:
step S1: acquiring parameters of the mobile robot; the parameters include: the length of the chassis, the width of the chassis, the offset distance for installing the driving wheel, the installation position of the laser sensor on the mobile robot and the working angle range of the laser sensor;
step S2: constructing a robot model according to the parameters;
step S3: determining a safety region of the laser sensor according to the robot model;
step S4: determining a target station, wherein the target station is a position to be reached when the mobile robot works;
step S5: and avoiding the barrier point to reach the target station according to the safety area.
2. The method for avoiding obstacles by rotating a mobile robot according to claim 1, wherein the determining the safety region of the laser sensor according to the robot model specifically comprises:
step S31: determining the rotation center of the chassis according to the offset distance between the robot model and the installation of the driving wheel;
step S32: determining a distance from the center of rotation to the center of the laser sensor;
step S33: determining the distance from the rotating center to the edge of the chassis;
step S34: determining the safe distance of the laser sensor according to the distance from the rotating center to the center of the laser sensor and the distance from the rotating center to the edge of the chassis;
step S35: and taking the area which is larger than the safe distance as a safe area.
3. The method for avoiding obstacles by rotating a mobile robot according to claim 2, wherein the avoiding of the obstacle point according to the safety area to the target station specifically comprises:
step S51: judging whether the target station is in a set working range or not; if the target station is not in the set working range, returning to the step S4 to re-determine the target station; if the target station is within the set working range, executing step S52;
step S52: determining whether the barrier point is within the safe area at the target site; if the obstacle point is in the safe area at the target station, a warning is given to prompt that the target station cannot rotate, and the method returns to the step S4 to re-determine the target station; if the obstacle point is not within the safety zone at the target station, performing step S53;
step S53: controlling the mobile robot to move;
step S54: judging whether the distance information between the mobile robot and the obstacle point monitored in real time is smaller than the safe distance; if the distance information is smaller than the safe distance, sending an error with a virtual obstacle point, and at the moment, manually controlling the mobile robot to a safe area; if the distance information is greater than or equal to the safe distance, the process returns to step S53 until the target station is reached.
4. The method as claimed in claim 2, wherein the distance from the rotation center to the center of the laser sensor is determined by the following formula:
wherein d is the distance from the rotating center to the center of the laser sensor, (x, y) are the position coordinates of the laser sensor, P is the offset distance of the driving wheel, and P is more than or equal to 0.
5. The method as claimed in claim 2, wherein the determining the distance from the rotation center to the edge of the chassis is performed by the following formula:
wherein L is the distance from the rotating center to the edge of the chassis, L is the length of the chassis, D is the width of the chassis, P is the offset distance for mounting the driving wheel, and P is more than or equal to 0.
6. The method as claimed in claim 2, wherein the safe distance of the laser sensor is determined according to the distance from the rotation center to the center of the laser sensor and the distance from the rotation center to the edge of the chassis, and the specific formula is as follows:
r＝l-d+ε；
wherein r is the safe distance of the laser sensor, l is the distance from the rotating center to the edge of the chassis, d is the distance from the rotating center to the center of the laser sensor, and epsilon is the distance from the outer contour of the mobile robot to the obstacle.
7. A system for rotary obstacle avoidance of a mobile robot, the system comprising:
the acquisition module is used for acquiring parameters of the mobile robot; the parameters include: the length of the chassis, the width of the chassis, the offset distance for installing the driving wheel, the installation position of the laser sensor on the mobile robot and the working angle range of the laser sensor;
the model building module is used for building a robot model according to the parameters;
a safety region determining module for determining a safety region of the laser sensor according to the robot model;
the target station determining module is used for determining a target station, and the target station is a position to be reached when the mobile robot works;
and the execution module is used for reaching the target station by avoiding the barrier point according to the safety area.
8. The system for rotary obstacle avoidance of a mobile robot according to claim 7, wherein the safety area determination module specifically comprises:
the rotation center determining unit is used for determining the rotation center of the chassis according to the offset distance between the robot model and the installation of the driving wheel;
a first distance determination unit for determining a distance from the rotation center to a center of the laser sensor;
a second distance determining unit for determining a distance from the rotation center to an edge of the chassis;
the safe distance determining unit is used for determining the safe distance of the laser sensor according to the distance from the rotating center to the center of the laser sensor and the distance from the rotating center to the edge of the chassis;
and the safety zone determining unit is used for taking the zone which is greater than the safety distance as a safety zone.
9. The system for rotary obstacle avoidance of a mobile robot according to claim 8, wherein the execution module specifically comprises:
the first judgment unit is used for judging whether the target station is in a set working range or not; if the target site is not in the set working range, returning to a target site determining module, and re-determining the target site; if the target station is in the set working range, executing a second judgment unit;
a second judging unit, configured to judge whether the obstacle point is in the safety area at the target station; if the obstacle point at the target station is in the safe area, sending a warning to prompt that the target station cannot rotate, returning to a target station determining module, and re-determining the target station; executing a "control unit" if the obstacle point is not within the safe zone at the target site;
the control unit is used for controlling the mobile robot to move;
the third judging unit is used for judging whether the distance information between the mobile robot and the obstacle point monitored in real time is smaller than the safe distance; if the distance information is smaller than the safe distance, sending an error with a virtual obstacle point, and at the moment, manually controlling the mobile robot to a safe area; and if the distance information is greater than or equal to the safe distance, returning to the control unit until the target station is reached.
10. The system for avoiding obstacles by rotating a mobile robot as claimed in claim 8, wherein the safe distance of the laser sensor is determined according to the distance from the rotating center to the center of the laser sensor and the distance from the rotating center to the edge of the chassis, and the specific formula is as follows:
r＝l-d+ε；
wherein r is the safe distance of the laser sensor, l is the distance from the rotating center to the edge of the chassis, d is the distance from the rotating center to the center of the laser sensor, and epsilon is the distance from the outer contour of the mobile robot to the obstacle.
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| CN113287991A (en) * | 2021-06-23 | 2021-08-24 | 深圳乐动机器人有限公司 | Control method and control device for cleaning robot |
| CN114200945A (en) * | 2021-12-13 | 2022-03-18 | 哈尔滨工业大学芜湖机器人产业技术研究院 | Safety control method of mobile robot |
| US20230057065A1 (en) * | 2020-11-13 | 2023-02-23 | Lebanese Arabian Company For Alternative Therapeutics | Compositions comprising natural extracts for stimulating the immune response |
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