CN105739503B - 一种行走机器人拐弯调头的方法及控制设备 - Google Patents
一种行走机器人拐弯调头的方法及控制设备 Download PDFInfo
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- CN105739503B CN105739503B CN201610244272.5A CN201610244272A CN105739503B CN 105739503 B CN105739503 B CN 105739503B CN 201610244272 A CN201610244272 A CN 201610244272A CN 105739503 B CN105739503 B CN 105739503B
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- 238000000034 method Methods 0.000 title claims abstract description 45
- 230000004888 barrier function Effects 0.000 claims description 78
- 230000003542 behavioural effect Effects 0.000 claims description 7
- 238000011065 in-situ storage Methods 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 11
- 238000000137 annealing Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 9
- 238000004140 cleaning Methods 0.000 description 4
- 238000001514 detection method Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000004744 fabric Substances 0.000 description 2
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
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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
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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CN105739503B true CN105739503B (zh) | 2018-06-01 |
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Families Citing this family (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107402573B (zh) * | 2016-05-19 | 2021-05-14 | 苏州宝时得电动工具有限公司 | 自动工作系统,自移动设备及其控制方法 |
CN109753070A (zh) * | 2019-01-16 | 2019-05-14 | 深圳市海柔创新科技有限公司 | 一种避障方法、装置及仓储机器人 |
CN109933065B (zh) * | 2019-02-21 | 2022-03-04 | 四川阿泰因机器人智能装备有限公司 | 一种精平机器人电气控制方法 |
KR20190105214A (ko) * | 2019-08-23 | 2019-09-16 | 엘지전자 주식회사 | 인공 지능을 통해 구속 상황을 회피하는 로봇 청소기 및 그의 동작 방법 |
CN110888443A (zh) * | 2019-12-04 | 2020-03-17 | 上海大学 | 一种移动机器人旋转避障方法及系统 |
CN111897322A (zh) * | 2020-06-23 | 2020-11-06 | 北京旷视机器人技术有限公司 | 运输车的方位调整方法和产品 |
CN112549033B (zh) * | 2020-12-15 | 2022-12-02 | 灵动科技(北京)有限公司 | 一种轨迹控制方法、装置、机器人及存储介质 |
CN114355887B (zh) * | 2021-12-03 | 2023-08-08 | 云鲸智能(深圳)有限公司 | 机器人窄道通行方法、装置、机器人及存储介质 |
CN116700237A (zh) * | 2022-02-25 | 2023-09-05 | 追觅创新科技(苏州)有限公司 | 自移动设备的控制方法、设备及存储介质 |
CN115177186A (zh) * | 2022-07-21 | 2022-10-14 | 美智纵横科技有限责任公司 | 清扫方法、装置、扫地机器人及计算机可读存储介质 |
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CN104914860A (zh) * | 2014-03-10 | 2015-09-16 | 株式会社日立制作所 | 叉车型无人运输车、其控制方法以及控制装置 |
CN104977926A (zh) * | 2014-04-14 | 2015-10-14 | 科沃斯机器人科技(苏州)有限公司 | 自移动机器人局部避障行走方法 |
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EP2932876A1 (en) * | 2012-12-07 | 2015-10-21 | Ecovacs Robotics (Suzhou) Co., Ltd. | Window cleaning robot and operation mode control method thereof |
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2016
- 2016-04-13 CN CN201610244272.5A patent/CN105739503B/zh active Active
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CN104718507A (zh) * | 2012-11-05 | 2015-06-17 | 松下知识产权经营株式会社 | 自主行走装置的行走信息生成装置、方法及程序、以及自主行走装置 |
EP2932876A1 (en) * | 2012-12-07 | 2015-10-21 | Ecovacs Robotics (Suzhou) Co., Ltd. | Window cleaning robot and operation mode control method thereof |
CN103092206A (zh) * | 2013-02-27 | 2013-05-08 | 慈溪思达电子科技有限公司 | 管道机器人的遍历路径规划方法 |
CN104914860A (zh) * | 2014-03-10 | 2015-09-16 | 株式会社日立制作所 | 叉车型无人运输车、其控制方法以及控制装置 |
CN104977926A (zh) * | 2014-04-14 | 2015-10-14 | 科沃斯机器人科技(苏州)有限公司 | 自移动机器人局部避障行走方法 |
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CN104536447A (zh) * | 2014-12-29 | 2015-04-22 | 重庆广建装饰股份有限公司 | 一种扫地机器人的导航方法 |
CN104991560A (zh) * | 2015-07-12 | 2015-10-21 | 仲恺农业工程学院 | 自主移动式智能机器人 |
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