CN105487536A - Low-cost autonomous obstacle avoidance method for mobile robot - Google Patents

Abstract

The invention belongs to an obstacle avoidance method, and specifically relates to a low-cost autonomous obstacle avoidance method for a mobile robot. The method comprises the following steps: step 1, arranging sensors, the positions of the sensors being on the periphery of a robot, and on a position of upward extension, wherein a front part and a rear part are respectively provided with two sensors, a sensor is respectively arranged on a left side and right side, arranging a sensor on the upward extending highest point of the top surface of the robot; step 2, detecting; step 3, determining, determining whether the distance between the robot and an obstacle on each direction is in a safety threshold; step 4, avoiding, in a moving process, when the two sensors on the front part detect obstacles, avoiding. Substantial effects of the method are that the method is a low-cost and very effective method researched aimed at the mobile robots. According to characteristics of the total seven infrared and ultrasonic sensors, a unified and ordered obstacle avoidance strategy is made, so the mobile robot realizes an autonomous obstacle avoidance mode.

Description

The low cost automatic obstacle avoiding method of a kind of mobile robot

Technical field

The invention belongs to obstacle method, be specifically related to the low cost automatic obstacle avoiding method of a kind of mobile robot.

Background technology

Intelligent mobile robot is that a class by sensor senses environment and oneself state, can realize object-oriented independent navigation motion in the environment having barrier, thus complete the robot system of preplanned mission.Realize the automatic obstacle avoiding of robot, the cooperation between each sensor must be solved, the series of problems such as trajectory planning, motion control, environmental modeling, in real time location.Often be configured in fusion intelligent mobile robot mostly being laser radar, vision sensor, the multisensor such as infrared, ultrasonic for the sensor keeping away barrier, the advantage of this allocation plan is that avoiding barrier is accurate, and the speed of autonomous can than comparatively fast; Shortcoming is that operative sensor is expensive, require during process that the processing speed of CPU is fast, memory data output is large, therefore, under this is configured in that some precision aspect is less demanding, speed aspect do not have the specific environment of particular/special requirement, such as indoor environment, this configuration just adds the cost of system, increase the complexity of system, reduce the cost performance of product simultaneously.

Summary of the invention

The present invention is directed to the defect of conventional art, the low cost automatic obstacle avoiding method of a kind of mobile robot is provided.

The present invention is achieved in that the low cost automatic obstacle avoiding method of a kind of mobile robot, comprises the steps:

Step one: sensor is set

The position arranging sensor is the surrounding of robot, and extends upwardly high position, and wherein front and rear respectively arrange two sensors, is each side arranging a sensor, and the highest point upwards extended at robot end face arranges a sensor,

Step 2: detection

In robot moving process, sensor detects, and detection content is the distance of robot distance barrier,

Step 3: judge

Judge that the distance of each direction robot distance barrier is whether within secure threshold, in order to ensure the security of robot motion, secure threshold is divided into far, more closely, very nearly three levels, according to the distance of robot and barrier, sensor provides unlike signal

Step 4: evade

In traveling process, when two sensors of side detect barrier, evasion tactics as shown in Figure 5,

In traveling process, when the infrared sensor having a certain altitude when front detects barrier and distance is less than L ₂time, Robot dodge strategy sees the following form

The low cost automatic obstacle avoiding method of a kind of mobile robot as above, wherein, the threshold value of the optimum in described step 3 is respectively L ₃=100cm, L ₂=50cm, L ₁=20cm.

Remarkable result of the present invention is: the application is a kind of low cost of studying for mobile robot and very effective method, formulate unified orderly Robot dodge strategy according to the characteristic of infrared and ultrasonic totally 7 sensors, make mobile robot can realize automatic obstacle avoiding pattern.

Accompanying drawing explanation

Fig. 1 is ultrasonic sensor and the position view of infrared sensor in car body;

Fig. 2 is the distance (vertical view) of each sensor and barrier;

Fig. 3 is the distance (side view) of each sensor and barrier;

Fig. 4 position thresholding schematic diagram;

The Robot dodge strategy schematic diagram of Fig. 5 robot front sonac;

Other sensor Robot dodge strategy schematic diagram of Fig. 6 robot.

Embodiment

A mobile robot's low cost automatic obstacle avoiding method, comprises the steps:

Step one: sensor is set

The position arranging sensor is the surrounding of robot, and extends upwardly high position.Wherein front and rear respectively arrange two sensors, are each side arranging a sensor, and the highest point upwards extended at robot end face arranges a sensor.As shown in accompanying drawing 1,2,3.

Step 2: detection

In robot moving process, sensor detects, and detection content is the distance of robot distance barrier.

Step 3: judge

Judge that the distance of each direction robot distance barrier is whether within secure threshold.In order to ensure the security of robot motion, secure threshold is divided into far, more closely, very nearly three levels, as shown in Figure 4.Through test of many times checking, obtain optimum threshold value and be respectively L ₃=100cm, L ₂=50cm, L ₁=20cm.According to the distance of robot and barrier, sensor provides unlike signal.

Step 4: evade

In traveling process, as the sonac S of left front ₁detect front and have barrier and distance U ₁be less than L ₂time, tactful default priority is turned right, until barrier exceeds distance U ₁be greater than L ₂, robot keeps existing right-hand rotation action, works as U ₁be greater than L ₃time, robot turns left to adjust go back to original course; If when the angle of turning right is more than 90 °, robot flicker, follows mentioned above principle and carries out course adjustment.For the ultrasonic sensor in robot right forward side according to U ₂with L ₂, L ₃size carry out the change of Robot dodge strategy, only have and work as U ₁and U ₂size is all greater than L ₃time, robot keeps keeping straight on, and the Robot dodge strategy of two sonacs in concrete front is as shown in Figure 5.

In traveling process, the infrared sensor having a certain altitude when front barrier detected and distance is less than L ₂time, robot turns right, and robot turns left when right-hand rotation angle still has obstacle more than 90 °, and other Robot dodge strategy is identical with said method.It is worth mentioning that, when in the process of turning left or turn right, two sonac S on rear side of robot ₃, S ₄the obstacle distance U sensed ₃, U ₄be less than L ₁time, need robot to take advance measure to carry out the fine setting of distance; When in advance process, the infrared sensor S of robot both sides ₆, S ₇the obstacle distance I of surrounding detected ₂, I ₃be less than L ₁time, need robot to take the action of left-hand rotation and right-hand rotation to carry out the fine setting of distance.Concrete Robot dodge strategy is shown in Fig. 6.

Claims (2)

1. a mobile robot's low cost automatic obstacle avoiding method, is characterized in that, comprise the steps:

Step one: sensor is set

The position arranging sensor is the surrounding of robot, and extends upwardly high position, and wherein front and rear respectively arrange two sensors, is each side arranging a sensor, and the highest point upwards extended at robot end face arranges a sensor,

Step 2: detection

In robot moving process, sensor detects, and detection content is the distance of robot distance barrier,

Step 3: judge

Judge that the distance of each direction robot distance barrier is whether within secure threshold, in order to ensure the security of robot motion, secure threshold is divided into far, more closely, very nearly three levels, according to the distance of robot and barrier, sensor provides unlike signal

Step 4: evade

In traveling process, when two sensors of side detect barrier, evasion tactics is as shown in the table,

In traveling process, when the infrared sensor having a certain altitude when front detects barrier and distance is less than L ₂time, Robot dodge strategy sees the following form

2. the low cost automatic obstacle avoiding method of a kind of mobile robot as claimed in claim 1, is characterized in that: the threshold value of the optimum in described step 3 is respectively L ₃=100cm, L ₂=50cm, L ₁=20cm.。