CN102541057B - Moving robot obstacle avoiding method based on laser range finder - Google Patents
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Abstract
The invention relates to a moving robot obstacle avoiding method based on a laser range finder, which comprises the following steps: building the coordinate system of the robot; with the current location of the robot as a center of a circle, simulating laser transmission at the origin of coordinates to transmit N laser beams of which the directions are determined as candidate directions of the motion of the robot; dividing laser information into groups, selecting an obstacle point in each group, and mapping the obstacle point into the coordinate system of the robot; expanding the robot into a circle with a radius of R, drawing two tangent lines of the circle through one obstacle point, working out the range of the candidate directions in which the robot can go across the obstacle point according to the included angles of the tangent lines and an X-axis, and getting the direction in which the robot can go across the obstacle point; defining a cost function to evaluate all feasible directions, and selecting the optimal direction of the next circle of motion of the robot; and working out the linear speed and angular speed of the robot by using a speed control policy. According to the method, the robot can avoid an obstacle in an unknown environment, and has high performance; and without deeper theoretical foundation, the method is simple, smart, easy to understand and practical, requires small calculation, and is particularly suitable to use.
Description
Technical field
The present invention relates to a kind of mobile robot and keep away barrier technique, specifically a kind of mobile robot's barrier-avoiding method based on laser range finder.
Background technology
In recent years, laser range finder is used more and more widely in the robot navigation system.Mainly be because the laser range finder measuring technique has lot of advantages, particularly have high precision, high resolving power, wide visual field, not influenced by high light that also workable advantage provides good environment recognition capability for like this independent navigation robot in the dark.Keep away in the method for barrier adopting laser range sensor to carry out the mobile robot, commonly used have Artificial Potential Field method, a vector field histogram method.The Artificial Potential Field method is kept away the prototype that hinders air navigation aid as the part, has made positive contribution for promoting to keep away the research that hinders algorithm, but inevasible, this method still exists shortcoming.Because what the Artificial Potential Field method was taked the information extraction of map is a kind of overall blur method, soon all barriers are expressed as an overall repulsion with joint efforts to the influence of robot, this description is just too general, it is not very meticulous causing navigation effect, makes it run into the difficulty that some are difficult to overcome in actual applications.The vector field histogram method is set up polar coordinate system centered by the mobile robot, barrier is quantified as obstacle intensity level on all angles to the influence of robot, selects moving direction in the barrier intensity level is lower than the angular range of threshold value.A weakness of the method is exactly to the threshold value sensitivity, and Feasible channels were left in the basket when threshold value was more too small, the excessive danger that then may cause collision obstacle of threshold value.
Summary of the invention
At the weak point that exists in the existing algorithm, the technical problem to be solved in the present invention provides the mobile robot's barrier-avoiding method based on laser range finder that a kind of method is simply ingenious, calculated amount is little, practical.
For solving the problems of the technologies described above, the technical solution used in the present invention is:
The mobile robot's barrier-avoiding method that the present invention is based on laser range finder may further comprise the steps:
1) be initial point with the robot current location, the robot course is Y-axis, be that X-axis is set up the robot coordinate system with the direction perpendicular to Y-axis, in coordinate system, be the center of circle with the robot current location, the semicircle that to open up a length in the robot dead ahead be D is starting point as active window with the coordinate origin, counterclockwise in 180 degree scopes of negative semiaxis, the equal angular N bar of simulated laser transmission interval ray is as robot motion's candidate direction from the X-axis positive axis;
2) laser intelligence with 180 degree is divided into the N-1 group accordingly, in every group, selects the minimum value of active window inner laser detection range as the barrier point of this group, and barrier point is mapped among the robot coordinate system;
3) in the robot coordinate system, with the expanded one-tenth radius of the robot circle that is R, do two round tangent lines by a barrier point, the angle of two tangent lines and X-axis is respectively a and b, and adopting formula (1) to try to achieve the candidate direction scope that robot can pass through for this barrier point by angle a, b is L
0-L
rAnd L
l-L
N-1, wherein
4) after the candidate direction scope that each barrier point obtains passing through by said method, the common factor of the candidate direction scope of all barrier points is the feasible direction that robot can pass through;
5) judge whether to exist feasible direction, if exist, then define a cost function and estimate each feasible direction, to select the optimum orientation of next periodic motion of robot;
6) selected optimum orientation after, adopt the speed control strategy to provide robot linear velocity and angular velocity.
If there is no feasible direction then makes 90 ° or-90 ° of course angles for robot of following one-period, and the employing speed that continues control strategy provides robot linear velocity and angular velocity step.
Described N is 37,46,61,91 or 181.
The present invention has following beneficial effect and advantage:
1. the mobile robot based on laser range finder of the present invention's proposition keeps away the barrier new method, can keep away barrier, function admirable effectively in circumstances not known;
2. the inventive method is compared with other algorithms, does not need dark theoretical foundation, and method is simply ingenious, easy to understand, calculated amount are little, practical, is particularly suitable for practical application.
Description of drawings
Fig. 1 is robot coordinate and candidate direction in the inventive method;
Fig. 2 asks feasible direction in the inventive method for certain barrier point;
Fig. 3 is the process flow diagram of the inventive method.
Embodiment
Below in conjunction with accompanying drawing, with concrete example this method is described.
In this example, robot energy self-movement, robot base approaches circular, adopts laser range finder as main environment detection sensor.
The present invention is based on mobile robot's barrier-avoiding method of laser range finder as shown in Figure 3, may further comprise the steps:
1) be initial point with the robot current location, the robot course is Y-axis, be that X-axis is set up the robot coordinate system with the direction perpendicular to Y-axis, in coordinate system, be the center of circle with the robot current location, the semicircle that to open up a length in the robot dead ahead be D is starting point as active window with the coordinate origin, counterclockwise in 180 degree scopes of negative semiaxis, the equal angular N bar of simulated laser transmission interval ray is as robot motion's candidate direction from the X-axis positive axis;
2) laser intelligence with 180 degree is divided into the N-1 group accordingly, in every group, selects the minimum value of active window inner laser detection range as the barrier point of this group, and barrier point is mapped among the robot coordinate system;
3) in the robot coordinate system, with the expanded one-tenth radius of the robot circle that is R, do two round tangent lines by a barrier point, the angle of two tangent lines and X-axis is respectively a and b, and adopting formula (1) to try to achieve the candidate direction scope that robot can pass through for this barrier point by angle a, b is L
0-L
rAnd L
l-L
N-1, wherein
4) after the candidate direction scope that each barrier point obtains passing through by said method, the common factor of the candidate direction scope of all barrier points is the feasible direction that robot can pass through;
5) judge whether to exist feasible direction, if exist, then define a cost function and estimate each feasible direction, to select the optimum orientation of next periodic motion of robot;
6) selected optimum orientation after, adopt the speed control strategy to provide robot linear velocity and angular velocity.
If there is no feasible direction then makes 90 ° or-90 ° of course angles for robot of following one-period, and the employing speed that continues control strategy provides robot linear velocity and angular velocity step.
In this embodiment, at first set up the robot coordinate system.As shown in Figure 1, be initial point with the robot current location, the robot course is Y-axis, is that X-axis is set up the robot two-dimensional coordinate system with the direction perpendicular to Y-axis, and be the center of circle with the robot current location, the semicircle that to open up a length in the robot dead ahead be D is as active window.Be starting point with the coordinate origin, counterclockwise to negative semiaxis, even 37 rays of simulated laser emission are N=37,5 degree at interval from the X-axis positive axis.These 37 direction L
0-L
36, be robot motion's candidate direction.
Equally, the laser intelligence with 180 degree is divided into 36 groups, one group of per 5 degree accordingly.In every group, select the minimum value of active window inner laser detection range as the barrier point of this group, barrier point is mapped among the robot coordinate system.
In coordinate system, be the center of circle with the robot current location, robot is puffed to a circle.At first make the circumcircle of robot, suppose that radius is r, for avoiding robot and barrier collision in keeping away barrier, robot and barrier will have certain distance, therefore, make expanded radius of a circle R=r+d, wherein d should select according to actual conditions such as the profile of robot and sizes, r is 37cm in this example, and d is 15cm.
As accompanying drawing 2, in the robot moving process, laser constantly scans barrier, dropping on D as barrier point B is in the active window of radius the time, by this barrier point B, be two tangent line m and the n of the expanded circle of robot, the positive axis angle of tangent line m and n and X-axis is respectively a and b, cross initial point and make parallel lines p and the q of m and n respectively, the angle of p and q and X-axis also is a and b.As can be seen, for this barrier point, the boundary line, the left side that robot cannot pass through is p from accompanying drawing 2, and boundary line, the right is q.What barrier point B produced can not be by the left margin direction L in zone
lWith right margin direction L
rCan obtain by through type (1).For example, in accompanying drawing 2, if m and n and X-axis angle are 67 degree and 28 degree, then l equals 67 degree and takes advantage of 36 again divided by 180, obtains the result and rounds up, and is that 14, r equals 28 and spends and to take advantage of 36 again divided by 180 as calculated, and obtain the result and round downwards, be 5 as calculated.L then
5-L
14Between produce the zone that can not pass through, L for barrier point B
0-L
5And L
14-L
36Be the feasible direction for barrier point B robot.For the barrier point in expanded circle, because very near with robot distance, should make robot take promptly to keep away the barrier measure, mode such as suddenly stop or retreat, and needn't adopt said method to ask candidate direction.
Can calculate the candidate direction scope that robot can pass through for all barrier points that enter into active window, the common factor of the candidate direction of all barrier points is the feasible direction that robot can pass through.For a plurality of feasible directions of passing through, define a cost function and estimate each feasible direction, to select best direction.Be defined as follows cost function:
f(u)＝u
1×∠(u，g)+u
2×∠(u，c)+u
3×|u-j| (2)
In the formula, u is feasible direction, and g is target direction, and c is the current course angle of robot.∠ (u g) is the angle of feasible direction and target direction, and ∠ (u c) is the angle of feasible direction and current course angle, | u-j| is the absolute value of the differential seat angle of feasible direction and last one-period choice direction.u
1, u
2And u
3Be constant, for guaranteeing that robot advances u towards target
1Be greater than u
2, select u in the reality
1=8, u
2=3, u
3=3.Calculate the f (u) of each feasible direction, choose the direction of cost function value minimum as the robot direction of motion of following one-period.
When the visual field of robot did not have selectable direction, then making robot next cycle course angle was 90 ° or-90 °, namely allows robot turn an angle, and breaks away from current environment, seeks feasible direction again.
After having selected optimum orientation, adopt certain control strategy that robot is forwarded on the selected direction, at first make linear velocity v=v
Set, v
SetBe the linear velocity of setting.Order
t＝Dis/v
set (3)
ω＝θ/t
The distance value of Dis for setting, robot should forward predetermined direction in the Dis distance.For making robot not run into barrier before forwarding predetermined direction to, Dis can set according to the lowest distance value of robot the place ahead barrier.ω is angular velocity, and θ is the course angle of next periodic motion direction of robot.If robot best feasible direction of following one-period is L
k, then
θ＝5×k×π/180-π/2 (4)
If the angular velocity omega of obtaining has surpassed the maximum angular rate restriction, then linear velocity is reduced certain value, and then obtain ω with formula (3), so repeatedly, limit less than maximum angular rate up to the ω that tries to achieve.Just can be in the hope of robot left and right sides wheel speed according to linear velocity and angular velocity.
Claims (3)
1. mobile robot's barrier-avoiding method based on laser range finder is characterized in that may further comprise the steps:
1) be initial point with the robot current location, the robot course is Y-axis, be that X-axis is set up the robot coordinate system with the direction perpendicular to Y-axis, in coordinate system, be the center of circle with the robot current location, the semicircle that to open up a length in the robot dead ahead be D is starting point as active window with the coordinate origin, counterclockwise in 180 degree scopes of negative semiaxis, the equal angular N bar of simulated laser transmission interval ray is as robot motion's candidate direction from the X-axis positive axis;
2) laser intelligence with 180 degree is divided into the N-1 group accordingly, in every group, selects the minimum value of active window inner laser detection range as the barrier point of this group, and barrier point is mapped among the robot coordinate system;
3) in the robot coordinate system, with the expanded one-tenth radius of the robot circle that is R, do two round tangent lines by a barrier point, the angle of two tangent lines and X-axis is respectively a and b, and adopting formula (1) to try to achieve the candidate direction scope that robot can pass through for this barrier point by angle a, b is L
0-L
rAnd L
l-L
N-1, wherein
4) after the candidate direction scope that each barrier point obtains passing through by said method, the common factor of the candidate direction scope of all barrier points is the feasible direction that robot can pass through;
5) judge whether to exist feasible direction, if exist, then define a cost function and estimate each feasible direction, to select the optimum orientation of next periodic motion of robot;
6) selected optimum orientation after, adopt the speed control strategy to provide robot linear velocity and angular velocity.
2. a kind of mobile robot's barrier-avoiding method based on laser range finder according to claim 1 is characterized in that: if there is no feasible direction then makes 90 ° or-90 ° of course angles for robot of following one-period; The employing speed that continues control strategy provides robot linear velocity and angular velocity step.
3. a kind of mobile robot's barrier-avoiding method based on laser range finder according to claim 1, it is characterized in that: described N is 37,46,61,91 or 181.
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