CN108073165A - A kind of robot motion's method of imitative water skipper predation - Google Patents
A kind of robot motion's method of imitative water skipper predation Download PDFInfo
- Publication number
- CN108073165A CN108073165A CN201611005729.3A CN201611005729A CN108073165A CN 108073165 A CN108073165 A CN 108073165A CN 201611005729 A CN201611005729 A CN 201611005729A CN 108073165 A CN108073165 A CN 108073165A
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- robot
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- distance
- segmentation
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- 238000000034 method Methods 0.000 title claims abstract description 23
- 230000033001 locomotion Effects 0.000 title claims abstract description 22
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims description 13
- 241000630329 Scomberesox saurus saurus Species 0.000 title claims description 12
- 230000011218 segmentation Effects 0.000 claims abstract description 17
- 239000012634 fragment Substances 0.000 claims description 2
- 230000004888 barrier function Effects 0.000 abstract description 3
- 230000009286 beneficial effect Effects 0.000 abstract 1
- 230000005540 biological transmission Effects 0.000 abstract 1
- 241000238631 Hexapoda Species 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 210000002683 foot Anatomy 0.000 description 2
- 239000011664 nicotinic acid Substances 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000011089 mechanical engineering Methods 0.000 description 1
- 244000062804 prey Species 0.000 description 1
Classifications
-
- 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
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
Abstract
The present invention provides a kind of movement technique of robot, applied to moveable robot movement control field.This method comprises the following steps：The distance for reaching target location is calculated first, motion process is then divided into n sections according to apart from length, direction of calibration before every section of movement.Therefore except in the case of needing to reset destination, robot can be automatically performed the movement of lower a distance without the extraneous frequent control instruction of transmission after a distance of having advanced；Since without precisely turning to every time with regard to robot can be made to reach designated position, this also realize the above process in the very short system of computing resource.In addition, the mobile process of segmentation be also beneficial to robot reply follow target move suddenly or motion process in be in the presence of barrier suddenly.
Description
Technical field
It is specially a kind of motion control side of machine shifter people the present invention relates to automatically controlling and robot bionic field
Method.
Background technology
Robot be one collection environment sensing, dynamic decision with planning, behaviour control with perform etc. it is multi-functional in one
Integrated system, it has concentrated sensor technology, mechanical engineering, electronic engineering, computer engineering, automation control engineering and people
The multi-disciplinary achievements in research such as work intelligence.Wherein, mobile robot be one to extraneous environment high open intelligence system, energy
Enough while previously given assignment instructions are performed, according to the ambient condition information constantly perceived in traveling, independently do
Go out various decision-makings, automatic avoiding obstacles drive to specified target location guiding inherently safe.
Moveable robot movement control algolithm is mainly pid control algorithm and fuzzy logic control algorithm.Due to PID control
Be difficult to adjust there are control parameter in systems in practice, there is the problems such as being difficult to set up perfect inference rule in fuzzy control, move
Mobile robot motion control arithmetic needs further to be developed.
During water skipper preys on, water skipper senses ripple transmitting case using three pairs of foots, determines the general orientation of insect,
Sense ripple intensity, determine the approximate distance of insect, they can bound forward on the water surface by the slips of three pairs of foots, insect
When farther out, 30 to 40 centimetres of height or remote jump can be repeatedly done, under the up to speed of 1.5 meter per seconds, successfully captures food.
The number of water skipper jump is related to target range, and meets certain rule between the distance jumped every time, and the distance of jump is always
From small to large, then again from big to small, it is always maximum in the distance of interstage movement.
The present invention is exactly the predation process inspiration by water skipper, its characteristics of motion is applied to moveable robot movement control
In.
The content of the invention
The present invention is preyed on by water skipper to be inspired, and the water skipper predation characteristics of motion is applied in moveable robot movement control, is born
Duty control robot goes to designated position.
The present invention relates to automatically controlling and robot bionic field, the rule by segmentation jump during water skipper predation should
For in motion planning and robot control.Due to the mobile characteristic of segmentation so that robot is only needed before each segmentation is mobile actively
Some control instructions are sent, while are divided into multistage can also reduce the error for reaching target location into line direction adjustment, are furthermore split into
Multiple stages are conducive to robot and mobile target or reply are followed the situation of barrier occur suddenly.
The technical solution adopted by the present invention is：Target location is waited out first, and arrival target is calculated after obtaining target location
Then the distance of position will be divided into multiple segmentations to the process of target location, segmentation is followed apart from size from small arrival, then from
Small principle is arrived greatly, and middle takes maximum.The distance of each segmentation is respectively completed again, and an angle is adjusted before mobile at every section,
Such as run into will planning purpose ground again situation, then terminate current moving process, wait new destination to be given.The skill of the present invention
Art scheme general flow chart is as shown in Figure 1.
The present invention realizes that step is as follows：
(1) etc. the next position node to be given for needing to go to, performs step (2) if nodes of locations is obtained；
(2) judge whether the distance for the nodes of locations that new position node was provided to last time is more than threshold value r, if greater than then holding
Row step (3) otherwise performs step (4)；
(3) being calculated according to the nodes of locations coordinate and own coordinate that provide needs mobile total distance D, and will be moved through
Journey is segmented, and division number n, each section length is respectively d1, d2..., dn, perform step (5)；
(4) section length that residue is not covered is finely tuned, being equal to for each section length after adjustment is made to reach new position section
The distance D ' of point performs step (5)；
(5) calibrating direction performs the movement for not completing first segmentation in segmentation, if running into needs to reset mesh
Ground situation or cover segmentation then stop moving, perform step (6)；
(6) judge whether current fragment is covered, be, perform step (7), otherwise perform step (1)；
(7) judge whether to reach given nodes of locations, be to perform step (9), otherwise perform step (8)；
(8) judge whether to need to reset destination, be to perform step (1), otherwise perform (5)；
(9) the follow-up location node to be given such as judge whether to need, be to perform step (1), otherwise terminate.
The segments n is adjusted according to robot running environment, robot performance and total distance D.
The situation for reseting destination usually barrier occurs or target object is subjected to displacement, but is not limited only to
The above situation.
The threshold value r is that robot is allowed to reach the error distance at target.
The specific section length can be determined according to the relation of arithmetic progression or Fibonacci sequence, but be not limited only to
State two kinds of situations.
The present invention has the following advantages：
(1) calculating process is simple, smaller to the expense of hardware, and the frequency of control instruction is not required, therefore can be in property
Implement on platform that can be weaker.
(1) mode of Step wise approximation is segmented, certain accuracy had not only been ensure that, but also has reserved enough steering spaces.
Description of the drawings
Fig. 1 is a kind of robot motion's method general flow chart of imitative water skipper predation
Fig. 2 is that schematic diagram is embodied in a kind of robot motion's method of imitative water skipper predation
Specific embodiment
With reference to specific embodiment, the present invention is further explained.These embodiments are merely to illustrate the present invention and do not have to
In limitation the scope of protection of present invention.
Triangular representation robot as shown in Figure 2, black dot represent target object, and the circle outside dot represents radius r
Scope.Observe target object in A, B, C different positions respectively in robot at different moments in whole process.It is entire mobile
Process is as follows：
(1) in initial position, t1Moment robotic view is to target object in location A, and path planning module provides at this time
Target location be A.
(2) robot is calculated according to position A needs mobile total distance D, it is assumed that moving process is divided into 5 sections, by equal difference
Ordered series of numbers section length is respectively：
(3) after first segmentation of D is covered, i.e. t2Moment robotic view is moved to B location, path planning to target
The target location that module provides is B, and the distance of B to A is more than r, therefore is segmented again using current location as starting point.
(4) distance for assuming current location to B is D ', then each section length is：
(5) after first and second segmentations of D ' are covered, in t3Moment observes that target is moved to location of C, path rule
It is C to draw the target location that module provides, and the distance of C to B is less than r, therefore need to only adjust follow-up unfinished segmentation.
(6) distance of current location to location of C is D ", then the length of remaining segment is：
Final robot completes remaining segment and reaches object position
It puts.
Claims (4)
- A kind of 1. robot motion's method of imitative water skipper predation, it is characterised in that comprise the steps of：(1) etc. the next position node to be given for needing to go to, performs step (2) if nodes of locations is obtained；(2) judge whether the distance for the nodes of locations that new position node was provided to last time is more than threshold value r, if greater than then performing step Suddenly (3) otherwise perform step (4)；(3) being calculated according to the nodes of locations coordinate and own coordinate that provide needs mobile total distance D, and moving process is divided Section, division number n, each section length is respectively d1, d2..., dn, perform step (5)；(4) section length that residue is not covered is finely tuned, being equal to for each section length after adjustment is made to reach new position node Distance D ' performs step (5)；(5) calibrating direction performs the movement for not completing first segmentation in segmentation, if running into needs to reset destination Situation or cover segmentation then stop moving, perform step (6)；(6) judge whether current fragment is covered, be, perform step (7), otherwise perform step (1)；(7) judge whether to reach given nodes of locations, be to perform step (9), otherwise perform step (8)；(8) judge whether to need to reset destination, be to perform step (1), otherwise perform (5)；(9) the follow-up location node to be given such as judge whether to need, be to perform step (1), otherwise terminate.
- 2. method according to claim 1, it is characterised in that：The segments n is according to robot running environment, machine human nature Can and mobile total distance D be needed to be adjusted.
- 3. method according to claim 1, it is characterised in that：Each section length d need to meet relationAnd d1+d2+…+dn=D, and remainder segmentation fine tuning is still needed in satisfaction State relation.
- 4. method according to claim 1, it is characterised in that：The threshold value r is that robot is allowed to reach the error at target Distance.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611005729.3A CN108073165A (en) | 2016-11-16 | 2016-11-16 | A kind of robot motion's method of imitative water skipper predation |
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| CN201611005729.3A CN108073165A (en) | 2016-11-16 | 2016-11-16 | A kind of robot motion's method of imitative water skipper predation |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4251545B2 (en) * | 2003-07-11 | 2009-04-08 | 独立行政法人科学技術振興機構 | Route planning system for mobile robot |
| CN102087530A (en) * | 2010-12-07 | 2011-06-08 | 东南大学 | Vision navigation method of mobile robot based on hand-drawing map and path |
| CN103576686A (en) * | 2013-11-21 | 2014-02-12 | 中国科学技术大学 | Automatic guide and obstacle avoidance method for robot |
| CN105786000A (en) * | 2016-04-22 | 2016-07-20 | 上海物景智能科技有限公司 | Positioning method and positioning system for robot in planned path |
| CN105955280A (en) * | 2016-07-19 | 2016-09-21 | Tcl集团股份有限公司 | Mobile robot path planning and obstacle avoidance method and system |
-
2016
- 2016-11-16 CN CN201611005729.3A patent/CN108073165A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4251545B2 (en) * | 2003-07-11 | 2009-04-08 | 独立行政法人科学技術振興機構 | Route planning system for mobile robot |
| CN102087530A (en) * | 2010-12-07 | 2011-06-08 | 东南大学 | Vision navigation method of mobile robot based on hand-drawing map and path |
| CN103576686A (en) * | 2013-11-21 | 2014-02-12 | 中国科学技术大学 | Automatic guide and obstacle avoidance method for robot |
| CN105786000A (en) * | 2016-04-22 | 2016-07-20 | 上海物景智能科技有限公司 | Positioning method and positioning system for robot in planned path |
| CN105955280A (en) * | 2016-07-19 | 2016-09-21 | Tcl集团股份有限公司 | Mobile robot path planning and obstacle avoidance method and system |
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