CN107976999A - 一种移动机器人及其避障和路径规划方法和系统 - Google Patents
一种移动机器人及其避障和路径规划方法和系统 Download PDFInfo
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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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0217—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with energy consumption, time reduction or distance reduction criteria
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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
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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
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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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
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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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
- G05D1/0268—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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- Aviation & Aerospace Engineering (AREA)
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- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
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Cited By (27)
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CN108628326A (zh) * | 2018-07-11 | 2018-10-09 | 哈尔滨工程大学 | 一种智能水下机器人运动重规划策略 |
CN108681339A (zh) * | 2018-06-15 | 2018-10-19 | 东汉太阳能无人机技术有限公司 | 无人机导航方法、导航系统及无人机 |
CN108742346A (zh) * | 2018-06-27 | 2018-11-06 | 杨扬 | 遍历工作环境的方法及建立栅格地图的方法 |
CN108803602A (zh) * | 2018-06-01 | 2018-11-13 | 浙江亚特电器有限公司 | 障碍物自学习方法及新障碍物自学习方法 |
CN109460030A (zh) * | 2018-11-29 | 2019-03-12 | 广东电网有限责任公司 | 一种机器人避障系统 |
CN109739223A (zh) * | 2018-12-17 | 2019-05-10 | 中国科学院深圳先进技术研究院 | 机器人避障控制方法、装置及终端设备 |
CN109828582A (zh) * | 2019-02-28 | 2019-05-31 | 沈阳师范大学 | 基于多传感器信息融合的智能小车路径规划方法及系统 |
US10390003B1 (en) | 2016-08-29 | 2019-08-20 | Perceptln Shenzhen Limited | Visual-inertial positional awareness for autonomous and non-autonomous device |
CN110155883A (zh) * | 2019-06-26 | 2019-08-23 | 上海应用技术大学 | 桥式起重机路径规划系统 |
CN110187709A (zh) * | 2019-06-11 | 2019-08-30 | 北京百度网讯科技有限公司 | 行驶处理方法、设备和存储介质 |
CN110955233A (zh) * | 2018-09-25 | 2020-04-03 | 上海云绅智能科技有限公司 | 一种机器人的防撞方法、机器人及防撞系统 |
CN111077890A (zh) * | 2019-12-27 | 2020-04-28 | 湘潭大学 | 一种基于gps定位与自动避障的农业机器人的实现方法 |
CN111273658A (zh) * | 2020-01-13 | 2020-06-12 | 北京理工大学 | 一种移动机器人及障碍物探测方法 |
CN111289002A (zh) * | 2019-09-24 | 2020-06-16 | 陈水弟 | 一种机器人路径规划方法及系统 |
CN111759241A (zh) * | 2020-06-24 | 2020-10-13 | 湖南格兰博智能科技有限责任公司 | 一种扫地机器人清扫路径规划及导航控制方法 |
CN112130564A (zh) * | 2020-09-11 | 2020-12-25 | 珠海市一微半导体有限公司 | 机器人转动角度的获取方法、芯片和机器人 |
CN112506189A (zh) * | 2020-11-19 | 2021-03-16 | 深圳优地科技有限公司 | 一种控制机器人移动的方法 |
CN112506196A (zh) * | 2020-12-07 | 2021-03-16 | 合肥工业大学 | 基于先验知识的机器人避障方法和系统 |
CN112526983A (zh) * | 2020-09-11 | 2021-03-19 | 深圳市银星智能科技股份有限公司 | 一种机器人的路径规划方法、主控芯片及机器人 |
CN113495551A (zh) * | 2020-03-18 | 2021-10-12 | 北京猎户星空科技有限公司 | 一种机器人控制方法、装置、电子设备及存储介质 |
CN113625698A (zh) * | 2020-04-23 | 2021-11-09 | 纳恩博(常州)科技有限公司 | 控制车辆转向的方法、装置和存储介质 |
CN114167872A (zh) * | 2021-12-08 | 2022-03-11 | 江西省智能产业技术创新研究院 | 机器人避障方法、系统、计算机及机器人 |
US11328158B2 (en) | 2016-08-29 | 2022-05-10 | Trifo, Inc. | Visual-inertial positional awareness for autonomous and non-autonomous tracking |
US11501527B2 (en) | 2016-08-29 | 2022-11-15 | Trifo, Inc. | Visual-inertial positional awareness for autonomous and non-autonomous tracking |
US11774983B1 (en) | 2019-01-02 | 2023-10-03 | Trifo, Inc. | Autonomous platform guidance systems with unknown environment mapping |
US11842500B2 (en) | 2016-08-29 | 2023-12-12 | Trifo, Inc. | Fault-tolerance to provide robust tracking for autonomous and non-autonomous positional awareness |
US11953910B2 (en) | 2016-08-29 | 2024-04-09 | Trifo, Inc. | Autonomous platform guidance systems with task planning and obstacle avoidance |
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Cited By (33)
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US11953910B2 (en) | 2016-08-29 | 2024-04-09 | Trifo, Inc. | Autonomous platform guidance systems with task planning and obstacle avoidance |
US11900536B2 (en) | 2016-08-29 | 2024-02-13 | Trifo, Inc. | Visual-inertial positional awareness for autonomous and non-autonomous tracking |
US11842500B2 (en) | 2016-08-29 | 2023-12-12 | Trifo, Inc. | Fault-tolerance to provide robust tracking for autonomous and non-autonomous positional awareness |
US11328158B2 (en) | 2016-08-29 | 2022-05-10 | Trifo, Inc. | Visual-inertial positional awareness for autonomous and non-autonomous tracking |
US10390003B1 (en) | 2016-08-29 | 2019-08-20 | Perceptln Shenzhen Limited | Visual-inertial positional awareness for autonomous and non-autonomous device |
US11501527B2 (en) | 2016-08-29 | 2022-11-15 | Trifo, Inc. | Visual-inertial positional awareness for autonomous and non-autonomous tracking |
CN108803602A (zh) * | 2018-06-01 | 2018-11-13 | 浙江亚特电器有限公司 | 障碍物自学习方法及新障碍物自学习方法 |
CN108681339A (zh) * | 2018-06-15 | 2018-10-19 | 东汉太阳能无人机技术有限公司 | 无人机导航方法、导航系统及无人机 |
CN108742346A (zh) * | 2018-06-27 | 2018-11-06 | 杨扬 | 遍历工作环境的方法及建立栅格地图的方法 |
CN108628326A (zh) * | 2018-07-11 | 2018-10-09 | 哈尔滨工程大学 | 一种智能水下机器人运动重规划策略 |
CN110955233A (zh) * | 2018-09-25 | 2020-04-03 | 上海云绅智能科技有限公司 | 一种机器人的防撞方法、机器人及防撞系统 |
CN109460030A (zh) * | 2018-11-29 | 2019-03-12 | 广东电网有限责任公司 | 一种机器人避障系统 |
CN109739223A (zh) * | 2018-12-17 | 2019-05-10 | 中国科学院深圳先进技术研究院 | 机器人避障控制方法、装置及终端设备 |
US11774983B1 (en) | 2019-01-02 | 2023-10-03 | Trifo, Inc. | Autonomous platform guidance systems with unknown environment mapping |
CN109828582A (zh) * | 2019-02-28 | 2019-05-31 | 沈阳师范大学 | 基于多传感器信息融合的智能小车路径规划方法及系统 |
CN110187709A (zh) * | 2019-06-11 | 2019-08-30 | 北京百度网讯科技有限公司 | 行驶处理方法、设备和存储介质 |
CN110155883A (zh) * | 2019-06-26 | 2019-08-23 | 上海应用技术大学 | 桥式起重机路径规划系统 |
CN111289002A (zh) * | 2019-09-24 | 2020-06-16 | 陈水弟 | 一种机器人路径规划方法及系统 |
CN111077890A (zh) * | 2019-12-27 | 2020-04-28 | 湘潭大学 | 一种基于gps定位与自动避障的农业机器人的实现方法 |
CN111273658A (zh) * | 2020-01-13 | 2020-06-12 | 北京理工大学 | 一种移动机器人及障碍物探测方法 |
CN113495551B (zh) * | 2020-03-18 | 2024-03-19 | 北京猎户星空科技有限公司 | 一种机器人控制方法、装置、电子设备及存储介质 |
CN113495551A (zh) * | 2020-03-18 | 2021-10-12 | 北京猎户星空科技有限公司 | 一种机器人控制方法、装置、电子设备及存储介质 |
CN113625698B (zh) * | 2020-04-23 | 2024-05-03 | 纳恩博(常州)科技有限公司 | 控制车辆转向的方法、装置和存储介质 |
CN113625698A (zh) * | 2020-04-23 | 2021-11-09 | 纳恩博(常州)科技有限公司 | 控制车辆转向的方法、装置和存储介质 |
CN111759241A (zh) * | 2020-06-24 | 2020-10-13 | 湖南格兰博智能科技有限责任公司 | 一种扫地机器人清扫路径规划及导航控制方法 |
CN111759241B (zh) * | 2020-06-24 | 2021-10-15 | 湖南格兰博智能科技有限责任公司 | 一种扫地机器人清扫路径规划及导航控制方法 |
CN112526983B (zh) * | 2020-09-11 | 2022-10-28 | 深圳银星智能集团股份有限公司 | 一种机器人的路径规划方法、主控芯片及机器人 |
CN112130564B (zh) * | 2020-09-11 | 2022-12-13 | 珠海一微半导体股份有限公司 | 机器人转动角度的获取方法 |
CN112526983A (zh) * | 2020-09-11 | 2021-03-19 | 深圳市银星智能科技股份有限公司 | 一种机器人的路径规划方法、主控芯片及机器人 |
CN112130564A (zh) * | 2020-09-11 | 2020-12-25 | 珠海市一微半导体有限公司 | 机器人转动角度的获取方法、芯片和机器人 |
CN112506189A (zh) * | 2020-11-19 | 2021-03-16 | 深圳优地科技有限公司 | 一种控制机器人移动的方法 |
CN112506196A (zh) * | 2020-12-07 | 2021-03-16 | 合肥工业大学 | 基于先验知识的机器人避障方法和系统 |
CN114167872A (zh) * | 2021-12-08 | 2022-03-11 | 江西省智能产业技术创新研究院 | 机器人避障方法、系统、计算机及机器人 |
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