CN105373123A - High-efficiency barrier avoidance method based on binary index calculation - Google Patents
High-efficiency barrier avoidance method based on binary index calculation Download PDFInfo
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- CN105373123A CN105373123A CN201510712849.6A CN201510712849A CN105373123A CN 105373123 A CN105373123 A CN 105373123A CN 201510712849 A CN201510712849 A CN 201510712849A CN 105373123 A CN105373123 A CN 105373123A
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Abstract
The invention provides a high-efficiency barrier avoidance method based on binary index calculation and a robot. The robot comprises a distance sensor, the distance sensor scans a sector area in the front side of the robot, the sector area is divided into a left half area and a right half area by a half line taking the circular center of the sector area as the vertex, the distance sensor determines whether a barrier exists the in the left and right half areas and the distance to the barrier, whether the robot turns left or right is determined according to the distance, and if the robot falls into a dead anlge, the rotation angle is increased to carry out iteration. Thus, the robot can smoothly leave from the corner via iteration for 3 to 4 times.
Description
Technical field
The present invention relates to a kind of barrier-avoiding method of Corpus--based Method mode, particularly relate to a kind of robot that reduces and to get into a difficult position the barrier-avoiding method of probability.
Background technology
Along with the development of computer technology, robot research becomes a focus, and current robot has been applied to social multiple field.Indoor mobile robot is a kind of robot of slow running, in indoor environment, carry out various activity, has developed into an important directions of robot research gradually.
It is the gordian technique that mobile robot realizes from main control that independent navigation and environment are explored, and comprises environment sensing, location and path planning etc.Dynamic obstacle avoidance is the basic safety movement requirement of autonomous mobile robot, and Ye Shi robot realizes the key of AUTONOMOUS TASK.Especially, in office operation environment, barrier is complex-shaped, it is messy to put, and when robot runs to a corner, is likely trapped in a corner environment.Therefore, in order to ensure the normal operation of machine, Real-time Obstacle Avoidance Method is extremely important fast and effectively.
Summary of the invention
In order to robot can be made to leave corner fast, the invention provides one and add up efficient corner barrier-avoiding method based on binary system index.
The present invention first aspect provides a kind of and adds up efficient corner barrier-avoiding method based on binary system index, and described method comprises:
Robot scans sector region in working direction, and the fan-shaped center of circle is that sector region is divided into left half-court and right half-court by the ray on summit;
Step 1, robot scans left half-court and right half-court, when finding barrier:
---when robot judges that barrier appears at one of them halfth district, robot with the first predetermined angular to another halfth district directional steering;
---when robot judges that barrier appears at Liang Geban district, compare the mean distance of Liang Geban district barrier to robot simultaneously, select the Ban Qu direction, barrier place of relatively large mean distance, turn to the first predetermined angular;
Wherein, turning to first direction meter to record is 1, and turning to second direction meter to record is 0; After the circle statistics data of 1010 appear in robot, then think and enter corner, and turn to second direction with the second predetermined angle; After the circle statistics data of 0101 appear in robot, then think and enter corner, and turn to first direction with the second predetermined angular, wherein the second predetermined angular is greater than the first predetermined angular;
Step 2, continues scanning barrier and again adds up to turn to data:
If---in scanning area, do not find barrier, then represent and leave corner;
If---still there are the circle statistics data of 1010, then once to turn to larger angle to turn to second direction than front, if still there are the circle statistics data of 0101, then turn to first direction with greater angle;
Repeat step 2, until do not find barrier in scanning area.
Present invention also offers a kind of robot, comprise range sensor, described range sensor goes out a sector region in robot front scan, and by the ray being summit with the sector region center of circle, sector region is divided into left half-court and right half-court; Wherein:
Described range sensor is to left half-court and right half-court whether there is barrier and obstacle distance judges:
---when robot judges that barrier appears at one of them halfth district, robot with the first predetermined angular to another halfth district directional steering;
---when robot judges that barrier appears at Liang Geban district, compare the mean distance of Liang Geban district barrier to robot simultaneously, select the Ban Qu direction, barrier place of relatively large mean distance, turn to the first predetermined angular;
Wherein, turning to first direction meter to record is 1, and turning to second direction meter to record is 0; After the circle statistics data of 1010 appear in robot, then think and enter corner, and turn to second direction with the second predetermined angle; After the circle statistics data of 0101 appear in robot, then think and enter corner, and turn to first direction with the second predetermined angular, wherein the second predetermined angular is greater than the first predetermined angular;
Robot continues scanning barrier and statistics turns to data again:
If---in scanning area, do not find barrier, then represent and leave corner;
If---still there are the circle statistics data of 1010, then once to turn to larger angle to turn to second direction than front, if still there are the circle statistics data of 0101, then once to turn to larger angle to turn to first direction than front;
Robot multiple scanning and statistics turn to data, until do not find barrier in scanning area.
In foregoing of the present invention, described " once turning to larger angle than front " can be continuous several times to same direction rotate realizes, and such as doublely turns to, and described double steering angle sum is greater than a front steering angle.
In one preferred embodiment of the invention, described circle statistics data statistics is at least 2 circulations, is more preferably at least 5 circulations, is more preferably at least 10 circulations.
In one preferred embodiment of the invention, after robot leaves corner, the data of adding up before replacement.
In one preferred embodiment of the invention, during 1.5 times of robot range ability >=its length, the data of the statistics before replacement, when being more preferably 2 times of range ability >=its length, the data of the statistics before replacement.
In one preferred embodiment of the invention, described sector region angle is preferably at least 45 °, is more preferably at least 60 °, is more preferably at least 90 °, be more preferably 90-120 °.
The present invention is a kind of obstacle avoidance algorithm of Corpus--based Method mode, robot can be helped to judge current whether being absorbed in a dead angle, and just can leave from corner with the exploration of crossing 3-4 time, reduce the probability that robot gets into a difficult position.Based on this, method provided by the present invention and robot, can leave fast from corner, avoids complicated computation process and computing module.
Accompanying drawing explanation
Fig. 1 is Robot Scanning sector region schematic diagram;
Fig. 2 is that in a kind of preferred embodiment, robot steering procedure judges schematic diagram.
Embodiment
Below in conjunction with accompanying drawing 1-2, add up efficient corner barrier-avoiding method based on binary system index and robot is described in detail and describes, to enable content of the present invention by clearer understanding by embodiment to of the present invention.But, should be understood that, below embodiment do not limit the scope of the invention.
Embodiment 1
With reference to Fig. 1, robot 1 selects a central sectoral zone as effective obstacle-avoidance area from the scanning area of range sensor 2.With mid point C for separatrix, LOC region 31 is as the left side barrier scanning area of robot, the right scanning area that 32 are robot is made in ROC region, according to the sector display region of robot, obtain barrier in left one side of something and right half of two regions, to mean distance left_avg and right_avg of robot, to select to keep away turning to of barrier to the mean distance of robot by comparing barrier in two regions, left and right.
With reference to Fig. 2, when appearing at effective scanning region when barrier in the process of advancing:
When the barrier on the left side to be greater than the mean distance right_avg of barrier to robot on the right to the mean distance left_avg of robot, represent that the obstacle distance on the robot left side is comparatively far away, robot can turn left to, and record and turn to mark 1.
Otherwise when barrier appears at right area, the barrier on the left side is less than the mean distance right_avg of barrier to robot on the left side to the mean distance left_avg of robot, and robot turns right, and record turns to mark 0.
Left or the right rotate a certain angle, can be such as be predefined for angle 0.4rad (representing with radian).Next, after robot have rotated certain angle to the right (also can predetermined number of revolutions, such as, after right rotation twice), again surrounding environment be detected.
After robot leaves corner, original statistics to be emptied, and when by the time starting to turn to next time, restart to add up each time turn to data.When the distance that robot runs exceedes 2 times of this body length, before also emptying statistics turn to data, in order to avoid robot is because turning to and takeing for and lay oneself open among corner repeatedly, avoid the judgement that makes a mistake.
Embodiment 2
But after robot is absorbed in corner, robot, after again detecting surrounding environment, just can find oneself to be still present in corner.
As shown in Figure 2, robot finds that right side barrier mean distance right_avg is less, so to anticlockwise predetermined angular 0.4rad, and be designated as 1, testing environment again, find that left side barrier mean distance left_avg is less, so to right rotation 0.4rad, and be designated as 0.
Because judge the reason of left and right barrier, robot ceaselessly turns in dead angle, so start ceaselessly to swing to be absorbed in endless loop, then the data of adding up will present 101010 ... such infinite loop number.Occur that 1010 such turn to statistics.So when statistics occurs that data as 1010 appear in robot, show that robot has entered a dead angle.
In order to allow robot walk out dead angle, robot is allowed to carry out double right-hand rotation in corners, the angle that each rotation one is fixing.When robot is after twice right-hand rotation, statistics turns to data again.If robot is still in corner, then the angle originally rotated doubled, carry out twice rotation again, carry out iteration like this, guidance machine people can leave corner.
In like manner 010101 ... such situation to, robot also can turn around to walk out corner.
Be described in detail specific embodiments of the invention above, but it is just as example, the present invention is not restricted to specific embodiment described above.To those skilled in the art, any equivalent modifications that the present invention is carried out and substituting also all among category of the present invention.Therefore, equalization conversion done without departing from the spirit and scope of the invention and amendment, all should contain within the scope of the invention.
Claims (10)
1. add up an efficient corner barrier-avoiding method based on binary system index, it is characterized in that, described method comprises: robot scans sector region in working direction, and the fan-shaped center of circle is that sector region is divided into left half-court and right half-court by the ray on summit;
Step 1, robot scans left half-court and right half-court, when finding barrier:
---when robot judges that barrier appears at one of them halfth district, robot with the first predetermined angular to another halfth district directional steering;
---when robot judges that barrier appears at Liang Geban district, compare the mean distance of Liang Geban district barrier to robot simultaneously, select the Ban Qu direction, barrier place of relatively large mean distance, turn to the first predetermined angular;
Wherein, turning to first direction meter to record is 1, and turning to second direction meter to record is 0; After the circle statistics data of 1010 appear in robot, then think and enter corner, and turn to second direction with the second predetermined angle; After the circle statistics data of 0101 appear in robot, then think and enter corner, and turn to first direction with the second predetermined angular, wherein the second predetermined angular is greater than the first predetermined angular;
Step 2, continues scanning barrier and again adds up to turn to data:
If---in scanning area, do not find barrier, then represent and leave corner;
If---still there are the circle statistics data of 1010, then once to turn to larger angle to turn to second direction than front, if still there are the circle statistics data of 0101, then turn to first direction with greater angle;
Repeat step 2, until do not find barrier in scanning area.
2. method according to claim 1, is characterized in that, described circle statistics data statistics is at least 2 circulations.
3. method according to claim 1, is characterized in that, during 1.5 times of robot range ability >=its length, and the data of the statistics before replacement.
4. method according to claim 1, is characterized in that, after robot leaves corner, and the data of adding up before replacement.
5. method according to claim 1, is characterized in that, described sector region angle is at least 45 °.
6. a robot, is characterized in that, comprises range sensor, and described range sensor goes out a sector region in robot front scan, and by the ray being summit with the sector region center of circle, sector region is divided into left half-court and right half-court; Wherein:
Described range sensor is to left half-court and right half-court whether there is barrier and obstacle distance judges:
---when robot judges that barrier appears at one of them halfth district, robot with the first predetermined angular to another halfth district directional steering;
---when robot judges that barrier appears at Liang Geban district, compare the mean distance of Liang Geban district barrier to robot simultaneously, select the Ban Qu direction, barrier place of relatively large mean distance, turn to the first predetermined angular;
Wherein, turning to first direction meter to record is 1, and turning to second direction meter to record is 0; After the circle statistics data of 1010 appear in robot, then think and enter corner, and turn to second direction with the second predetermined angle; After the circle statistics data of 0101 appear in robot, then think and enter corner, and turn to first direction with the second predetermined angular, wherein the second predetermined angular is greater than the first predetermined angular;
Robot continues scanning barrier and statistics turns to data again:
If---in scanning area, do not find barrier, then represent and leave corner;
If---still there are the circle statistics data of 1010, then once to turn to larger angle to turn to second direction than front, if still there are the circle statistics data of 0101, then once to turn to larger angle to turn to first direction than front;
Robot multiple scanning and statistics turn to data, until do not find barrier in scanning area.
7. robot according to claim 6, is characterized in that, described circle statistics data statistics is at least 2 circulations.
8. robot according to claim 6, is characterized in that, described sector region angle is at least 45 °.
9. robot according to claim 6, is characterized in that, after robot leaves corner, and the data of adding up before replacement.
10. robot according to claim 6, is characterized in that, during 1.5 times of robot range ability >=its length, and the data of the statistics before replacement.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106647768A (en) * | 2017-01-18 | 2017-05-10 | 成都黑盒子电子技术有限公司 | Spontaneous movement obstacle avoidance method of service robot |
| CN111951609A (en) * | 2020-07-24 | 2020-11-17 | 深圳市云洲创新科技有限公司 | Bridge active anti-collision early warning method, device, equipment and storage medium |
| WO2021169193A1 (en) * | 2020-02-28 | 2021-09-02 | 苏州科瓴精密机械科技有限公司 | Automatic working system, automatic locomotion device and control method therefor, and computer readable storage medium |
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| US20140152822A1 (en) * | 2012-12-05 | 2014-06-05 | Florida Institute for Human and Machine Cognition | User Display Providing Obstacle Avoidance |
| CN104216409A (en) * | 2014-09-04 | 2014-12-17 | 北京工业大学 | Two-wheeled self-balancing robot obstacle avoidance system and control method based on fuzzy control |
| CN104777839A (en) * | 2015-04-16 | 2015-07-15 | 北京工业大学 | BP neural network and distance information-based robot autonomous obstacle avoiding method |
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| US20140152822A1 (en) * | 2012-12-05 | 2014-06-05 | Florida Institute for Human and Machine Cognition | User Display Providing Obstacle Avoidance |
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| CN103529844A (en) * | 2013-10-18 | 2014-01-22 | 吴宝举 | Forward-looking sonar-based underwater robot collision avoidance method |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106647768A (en) * | 2017-01-18 | 2017-05-10 | 成都黑盒子电子技术有限公司 | Spontaneous movement obstacle avoidance method of service robot |
| WO2021169193A1 (en) * | 2020-02-28 | 2021-09-02 | 苏州科瓴精密机械科技有限公司 | Automatic working system, automatic locomotion device and control method therefor, and computer readable storage medium |
| CN111951609A (en) * | 2020-07-24 | 2020-11-17 | 深圳市云洲创新科技有限公司 | Bridge active anti-collision early warning method, device, equipment and storage medium |
| CN111951609B (en) * | 2020-07-24 | 2022-08-09 | 深圳市云洲创新科技有限公司 | Bridge active anti-collision early warning method, device, equipment and storage medium |
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