CN104267728B - A kind of moving robot obstacle avoiding method based on range coverage centroid vector - Google Patents
A kind of moving robot obstacle avoiding method based on range coverage centroid vector Download PDFInfo
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- 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
A kind of moving robot obstacle avoiding method based on range coverage centroid vector, relates to Guidance and control method, is specifically related to a kind of moving robot obstacle avoiding method.Needing to build grating map or polar coordinate obstacle figure to solve existing avoidance technology, process is loaded down with trivial details, and obstacle avoidance algorithm is computationally intensive, and lattice dimensions may cause the uncared-for problem of feasible path improperly.The present invention utilizes scanning laser radar or slr camera that mobile machine People's Bank of China is entered direction imaging, three dimensions scanning laser radar or range finding viewing field of camera surrounded with some cloud or two dimensional surface region are as robot range coverage, calculate its centroid position vector synthesis centroid vector, synthesis centroid vector is mapped in the middle of feasible speed scope, forming next control cycle moves robot desired speed vector, it is achieved mobile robot autonomous obstacle avoidance.The present invention is applicable to mobile robot and moves avoidance.
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
The significant capability being to move robot is evaded by local disturbance, is also to realize the basis that global optimum's route is followed the tracks of
One of, therefore there is important Research Significance.Barrier-avoiding method is conducted in-depth research by Chinese scholars, it is proposed that multiple have
Representational achievement in research, specifically includes that
Virtual space conference (VFF): Virtual space conference basic thought is that robot motion is assumed to be robot at fictitious force
Motion in the environment of field.Movement target place grid is set to low-potential energy district, robot can be attracted to move to it.By obstacle
Thing position is set to high potential energy district, repels robot and moves to it.By comprehensive function captivation in robot and row
The control power as final robot motion of making a concerted effort of repulsion.Its advantage is that algorithm is simple, it is easy to Project Realization.Shortcoming is authorities
When portion's barrier is more, set up virtual field of force amount of calculation relatively big, and the problem that there is local minimum point.
Field of force block diagram method (VFH): VFH algorithm carries out the process of two-wheeled to the real time environmental data obtained, sets up local
Polar coordinate rectangular histogram, and histogrammic wave trough position in selecting active window, as the input parameter of robot obstacle-avoiding and control.
VFH algorithm advantage is can be in narrow space stable operation, and the turning that can smooth.
Ranger algorithm: first Ranger algorithm sets up some tracks according to its kinematics model, afterwards by calculating
Every track excellent value obtains next step track.The shortcoming of Ranger algorithm is the machine owing to using binocular camera to obtain
People's surrounding topography is affected by noise relatively big, causes using Ranger algorithm to obtain path accuracy poor.
Morphin algorithm: robot environment's topography rasterizing that this algorithm will be obtained by binocular camera, and analyze logical
Excellent value when crossing each grid and determine value, sets up some tracks afterwards, by weighted sum obtain every track can
Ergodic, selecting the best track of traversability is that next step performs track.
GESTALT algorithm: this algorithm is Morphine algorithm improvement, analyze grating map excellent value and determine value it
After, set up some tracks, and every track is carried out traversability analysis and close to impact point analysis, finally give next step
The optimal trajectory performed.Advantage is can to obtain taking into account robot dynamics and the track of current terrain environment, and shortcoming is sometimes
When traversability analysis and conflicting close to impact point analysis, it is impossible to obtain the track of optimum.
Close to diagram method (ND): first the method is divided into several to current robot surrounding according to different angles
Region, sets up zones of different obstacle nearness block diagram, can obtain barrier in each angular regions by analyzing block diagram
Distance, and identify safety zone.Application afterwards obtains data and these regions can be referred to different scenes, according to each
The avoidance rule of scene can obtain the avoidance obstacle instruction of robot, completes avoidance task.
Summary of the invention
The present invention is to solve that existing avoidance technology needs to build grating map or polar coordinate obstacle figure, process is loaded down with trivial details, keeps away
Barrier algorithm is computationally intensive, and lattice dimensions may cause the uncared-for problem of feasible path improperly, and then proposes one
Moving robot obstacle avoiding method based on range coverage centroid vector.
A kind of moving robot obstacle avoiding method based on range coverage centroid vector, its step is as follows:
Step one: utilize scanning laser radar or slr camera that mobile machine People's Bank of China is entered direction imaging, it is thus achieved that to move
Three-dimensional or the two-dimentional cloud data in mobile robot front, as the metrical information of obstacle avoidance；
Step 2: according to scanning laser radar or the basic imaging principle of slr camera, by scanning laser radar or
Range finding viewing field of camera with put the three dimensions that surrounds of cloud or two dimensional surface region 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 centroid vector；
Step 5: according to mobile robot maximum safety moving speed, minimum distance of obstacle, scanning laser radar or laser
The maximum of range finding camera measures distance, is mapped in the middle of feasible speed scope by synthesis centroid vector, forms next control cycle
Mobile robot desired speed vector.
The concrete operation step of the centroid position Vector operation described in step 3 is:
Setting up robot body coordinate system, coordinate origin is robot barycenter, and y-axis is robot direction of advance, x-axis with
Robot hind axle is parallel, and points on the right side of direction of advance, z-axis and x, and y-axis becomes right-handed system, if scanning laser radar and robot
Body series overlaps；
If scanning laser radar or a width of θ of slr camera laser beam, i.e. beam width is θ, laser scanning thunder
Reach or the i-th laser beam range measurement of slr camera is di；Laser beam is covered space and is approximately cone, then
This volume of coneAssume that the homogeneous body density of range coverage is 1, then this cone quality mi=Vi；This circle
Cone centroid position vector is Pi=(xi,yi,zi),
Wherein α, β are respectively this laser beam yaw angle in scanning radar or range finding viewing field of camera and the angle of pitch；
Range coverage centroid position is Pv=(xv,yv,zv),
Wherein n is this Laser Measurement number of beams.
When motion in the robot body coordinate system that robot sets up in step 3, if mobile robot is in two dimension
Plane is moved, z-axis bearing data is set to 0, only consider the vector in x-y plane.
The concrete operation step that synthesis centroid vector described in step 4 calculates is:
If robot movable target point direction unit vector is PT=(xT,yT,zT), then synthesis centroid vector is PJ=Pv+c
||Pv||PT, wherein c is regulation coefficient, | | Pv| | for the length of centroid vector.
Synthesis centroid vector described in step 5 to the concrete operation step of feasible speed scope mapping calculation is:
When whole laser beam range measurement are maximum measure distance distance, calculate range coverage centroid vector Pmax, when entirely
When portion's laser beam range measurement is tolerable minimum distance of obstacle, calculate range coverage centroid vector Pmin, next cycle
Velocity isWherein vmaxThe maximum safety moving speed moved for robot.
The present invention determines mobile robot range coverage, by range coverage centroid position by two dimension or three dimensional point cloud
Vector and mobile impact point Vector modulation, according to information such as robot maximum safety moving speed and tolerable minimum distance of obstacle
Mapping resultant vector in the range of feasible speed, as mobile robot, next controls the desired speed vector in cycle, it is achieved move
The autonomous obstacle avoidance of mobile robot.
Compared with the technology such as the present invention and existing Virtual space conference, field of force block diagram method, principle is simple, it is not necessary to build grid
Change map or polar coordinate rectangular histogram, choose lattice dimensions improperly during the most there is not rasterizing and may cause feasible path
Uncared-for problem, also makes amount of calculation be greatly reduced simultaneously, and in the two-dimensional map of 100 × 100, the present invention is virtual with the overall situation
Field of force method is compared, and amount of calculation reduces about 50%；In addition the present invention is without the concern for mobile robot dynamics, according only to each control
Cycle inner laser radar surveying value processed just can provide continuous print and move robot desired speed, more conducively Project Realization.
Accompanying drawing explanation
Fig. 1 is the flow chart 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 is the avoidance pathway figure that robot moves at two dimensional surface.
Detailed description of the invention
Specifically embodiment one: combine Fig. 1 and Fig. 2 and present embodiment is described, a kind of based on range coverage centroid vector
Moving robot obstacle avoiding method, comprise the steps:
Step one: utilize scanning laser radar or slr camera that mobile machine People's Bank of China is entered direction imaging, it is thus achieved that to move
Three-dimensional or the two-dimentional cloud data in mobile robot front, as the metrical information of obstacle avoidance；
Step 2: according to scanning laser radar or the basic imaging principle of slr camera, by scanning laser radar or
Range finding viewing field of camera with put the three dimensions that surrounds of cloud or two dimensional surface region 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 centroid vector；
Step 5: according to mobile robot maximum safety moving speed, minimum distance of obstacle, scanning laser radar or laser
The maximum of range finding camera measures distance, is mapped in the middle of feasible speed scope by synthesis centroid vector, forms next control cycle
Mobile robot desired speed vector.
Specifically embodiment two: the centroid position Vector operation described in the step 3 described in present embodiment concrete
Operating procedure is:
Setting up robot body coordinate system as it is shown on figure 3, coordinate origin is robot barycenter, y-axis is that robot advances
Direction, x-axis is parallel with robot hind axle, and points on the right side of direction of advance, z-axis and x, and y-axis becomes right-handed system, if laser scanning thunder
Reach and overlap with robot body system；
If scanning laser radar or a width of θ of slr camera laser beam, i.e. beam width is θ, laser scanning thunder
Reach or the i-th laser beam range measurement of slr camera is di；Laser beam is covered space and is approximately cone, then
This volume of coneAssume that the homogeneous body density of range coverage is 1, then this cone quality mi=Vi；Due to
Cone barycenter is positioned on circular cone height line, away from conical tip distance for highSo this cone centroid position vector is Pi
=(xi,yi,zi), Wherein α, β are respectively this laser
Wave beam is at scanning radar or the find range yaw angle in viewing field of camera and the angle of pitch；
Range coverage centroid position is Pv=(xv,yv,zv),
Wherein n is this Laser Measurement number of beams.
Other step is identical with detailed description of the invention one.
Detailed description of the invention three: in present embodiment, when the robot body coordinate system that robot sets up in step 3
During middle motion, if mobile robot moves in two dimensional surface, z-axis bearing data is set to 0, only consider the arrow in x-y plane
Amount, the avoidance figure that robot moves at two dimensional surface is as shown in Figure 4.
Other step is identical with detailed description of the invention two.
Detailed description of the invention four: the concrete operation step that the synthesis centroid vector described in present embodiment step 4 calculates
For:
If robot movable target point direction unit vector is PT=(xT,yT,zT), then synthesis centroid vector is PJ=Pv+c
||Pv||PT, wherein c is regulation coefficient, | | Pv| | for the length of centroid vector.
Other step and detailed description of the invention one, two or three are identical.
Detailed description of the invention five: the synthesis centroid vector described in present embodiment step 5 maps to feasible speed scope
The concrete operation step calculated is:
When whole laser beam range measurement are maximum measure distance distance, calculate range coverage centroid vector Pmax, when entirely
When portion's laser beam range measurement is tolerable minimum distance of obstacle, calculate range coverage centroid vector Pmin, next cycle
Velocity isWherein vmaxThe maximum safety moving speed moved for robot.
Other step is identical with detailed description of the invention four.
Claims (5)
1. a moving robot obstacle avoiding method based on range coverage centroid vector, it is characterised in that it comprises the steps:
Step one: utilize scanning laser radar or slr camera that mobile machine People's Bank of China is entered direction imaging, it is thus achieved that moving machine
Three-dimensional or the two-dimentional cloud data in device people front, as the metrical information of obstacle avoidance；
Step 2: according to scanning laser radar or the basic imaging principle of slr camera, by scanning laser radar or range finding
Viewing field of camera and the point three dimensions that surrounds of 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 centroid vector；
Step 5: according to mobile robot maximum safety moving speed, minimum distance of obstacle, scanning laser radar or laser ranging
The maximum of camera measures distance, is mapped in the middle of feasible speed scope by synthesis centroid vector, forms next control cycle and moves
Robot desired speed vector.
A kind of moving robot obstacle avoiding method based on range coverage centroid vector the most according to claim 1, its feature
Being the centroid position Vector operation described in step 3, step is as follows:
Setting up robot body coordinate system, coordinate origin is robot barycenter, and y-axis is robot direction of advance, x-axis and machine
People's hind axle is parallel, and points on the right side of direction of advance, z-axis and x, and y-axis becomes right-handed system, if scanning laser radar and robot body
Coordinate system overlaps；
If scanning laser radar or a width of θ of slr camera laser beam, scanning laser radar or the i-th of slr camera
Individual laser beam range measurement is di；Laser beam is covered space and is approximately cone, then this volume of coneAssume that the homogeneous body density of range coverage is 1, then this cone quality mi=Vi；This cone centroid position is vowed
Amount is Pi=(xi,yi,zi),Wherein α, β are respectively
This laser beam is at scanning radar or the find range yaw angle in viewing field of camera and the angle of pitch；
Range coverage centroid position is Pv=(xv,yv,zv),Wherein
N is this Laser Measurement number of beams.
A kind of moving robot obstacle avoiding method based on range coverage centroid vector the most according to claim 2, its feature
When being in the robot body coordinate system that robot sets up in step 3 motion, if mobile robot is in two dimensional surface
Motion, sets to 0 z-axis bearing data, only considers the vector in x-y plane.
4. according to a kind of based on range coverage centroid vector the moving robot obstacle avoiding method described in claim 1,2 or 3, its
It is characterised by the computational methods of the synthesis centroid vector described in step 4, specifically comprises the following steps that
If robot movable target point direction unit vector is PT=(xT,yT,zT), then synthesis centroid vector is PJ=Pv+c||Pv|
|PT, wherein c is regulation coefficient, | | Pv| | for the length of centroid vector.
A kind of moving robot obstacle avoiding method based on range coverage centroid vector the most according to claim 4, its feature
It is the computational methods that the synthesis centroid vector described in step 5 maps to feasible speed scope, specifically comprises the following steps that
When whole laser beam range measurement are maximum measure distance distance, calculate range coverage centroid vector Pmax, when all swashing
When light beam range measurement is tolerable minimum distance of obstacle, calculate range coverage centroid vector Pmin, next period velocity
Vector isWherein vmaxThe maximum safety moving speed moved for robot.
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Effective date of registration: 20190617 Address after: 150000 Heilongjiang Harbin Dalian economic and Trade Zone, the North Road and Xingkai Road intersection Patentee after: Harbin University of Technology Robot Group Co., Ltd. Address before: 150001 No. 92 West straight street, Nangang District, Heilongjiang, Harbin Patentee before: Harbin Institute of Technology |
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