CN108227706B - Method and device for avoiding dynamic obstacle for robot - Google Patents
Method and device for avoiding dynamic obstacle for robot Download PDFInfo
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- CN108227706B CN108227706B CN201711384820.5A CN201711384820A CN108227706B CN 108227706 B CN108227706 B CN 108227706B CN 201711384820 A CN201711384820 A CN 201711384820A CN 108227706 B CN108227706 B CN 108227706B
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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
- G05D1/0231—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
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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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
- G05D1/0214—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
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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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
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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
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
Abstract
The application discloses a method and a device for a robot to avoid dynamic obstacles. The method comprises the following steps: determining a first global path according to a terminal point of the robot in the traveling process and an obstacle in the environment; periodically acquiring a local map in the movement direction of the robot; when the fact that a dynamic obstacle exists in the movement direction is determined according to the local map, the position of the dynamic obstacle is obtained; the dynamic obstacle is a moving obstacle; determining whether the first global path interferes with the dynamic barrier according to the positions of the first global path and the dynamic barrier; after the interference is determined, the global path planning is carried out again to obtain a new global path; otherwise, the motion is carried out according to the first global path. Because the global path is generated relatively infrequently, this monitoring method consumes fewer resources and is faster than detecting information in the local map in real time and bypassing moving obstacles.
Description
Technical Field
The application relates to the technical field of robots, in particular to a method and a device for avoiding dynamic obstacles for a robot.
Background
The global path planning is based on a map given in advance, but the motion environment of the service robot is generally dynamic, and an obstacle which does not exist when a static map is drawn may enter the environment, and at the moment, the obstacle in front of the robot is detected through a laser radar to generate a local map. On the basis of an obstacle avoidance strategy aiming at a later added obstacle (such as a person standing in front of a robot statically), the original pure local obstacle avoidance strategy is easy to fall into a situation of 'left and right difficult', because the release speed principle of a local planner focuses on speed sampling, the speed sampling method firstly calculates all speeds which can be reached by a robot in a certain time, then multiplies the speeds by dt to obtain the relative displacement of the robot, the relative displacement of the sampling speed is not collided with the obstacle and faces towards a target as much as possible and is close to a global path, and therefore the robot generates speeds which are far away from the obstacle and finally points towards the target. Therefore, the robot has a high control frequency to prevent the robot from generating obstacle avoidance speed after the robot travels to a place extremely close to an obstacle, and safety problems are easy to generate.
However, when the robot bypasses the position of the obstacle, because the left-turning speed or the right-turning speed can be given to reach the target point by bypassing the obstacle, the giving probabilities of the two speeds are equal, but under the condition of high control frequency, the robot does not carry out enough displacement, and the planner gives a new speed instruction. The new speed received by the robot is possibly different from the original obstacle avoidance speed bypassing position, so that the robot receives a new speed instruction for turning around the obstacle from the other direction after completing the rotation behavior, and the robot can continuously and repeatedly try two paths, which is represented by the left and right vibration and rotation of the robot when the robot has enough obstacle avoidance space in front of the obstacle.
Aiming at the problems of left and right vibration and rotation when the robot has a sufficient obstacle avoidance space in front of an obstacle in the prior art, an effective solution is not provided at present.
Disclosure of Invention
The present application mainly aims to provide a method and a device for a robot to avoid dynamic obstacles, so as to solve the problems in the related art.
In order to achieve the above object, according to one aspect of the present application, there is provided a method of a robot evading a dynamic obstacle.
The robot dynamic obstacle avoidance method comprises the following steps:
determining a first global path according to a terminal point of the robot in the traveling process and an obstacle in the environment;
periodically acquiring a local map in the movement direction of the robot;
when the fact that a dynamic obstacle exists in the movement direction is determined according to the local map, the position of the dynamic obstacle is obtained; the dynamic obstacle is a moving obstacle;
determining whether the first global path interferes with the dynamic barrier according to the positions of the first global path and the dynamic barrier;
after the interference is determined, the global path planning is carried out again to obtain a new global path; otherwise, the motion is carried out according to the first global path.
Further, the method for avoiding static obstacles by using the robot as described above, where the periodically obtaining a local map in the moving direction of the robot includes:
periodically detecting image information in the motion direction of the robot through a laser radar;
and generating a local map in the movement direction of the robot according to the image information.
Further, the method for avoiding static obstacles by the robot as described above, wherein the determining whether the first global path interferes with the dynamic obstacle includes:
checking the barrier cost value of each path point on the first global path according to a certain frequency, wherein the first global path is formed by connecting a plurality of continuous path points, and the barrier cost value represents the distance between each path point in the global path and the nearest barrier;
and if the distance between the path point and the obstacle, which is characterized by the obstacle cost value of a certain path point, is detected to exceed a threshold value, determining that the global path and the dynamic obstacle interfere, otherwise, determining that the global path and the dynamic obstacle do not interfere.
Further, according to the foregoing method for avoiding a static obstacle by a robot, the re-planning a path to obtain a new global path includes:
acquiring obstacles in the environment and positions of the dynamic obstacles;
and carrying out secondary global path planning according to the position of the obstacle and the position of the dynamic obstacle, and obtaining the new global path.
Further, the method for the robot to avoid the static obstacle as described above, where the second global path planning is performed according to the position of the obstacle and the position of the dynamic obstacle, and the new global path is obtained, includes:
if the current position of the dynamic obstacle is determined to interfere with a second global path obtained by the second global path planning according to a second local map;
determining that the motion direction of the dynamic obstacle is consistent with the obstacle avoidance direction of the second global path;
taking the opposite direction of the obstacle avoidance direction of the second global path as the obstacle avoidance direction of the new global path plan;
and obtaining the new global path according to the obstacle avoidance direction of the new global path plan and the current position of the dynamic obstacle.
In order to achieve the above object, according to another aspect of the present application, there is provided a device for a robot to evade a dynamic obstacle.
The robot dynamic obstacle avoidance device according to the present application includes:
the first global path planning unit is used for determining a first global path according to a terminal point of the robot in the traveling process and an obstacle in the environment;
the local map acquisition unit is used for periodically acquiring a local map in the movement direction of the robot;
the dynamic obstacle position obtaining unit is used for obtaining the position of the dynamic obstacle when the movement direction is determined to have the dynamic obstacle according to the local map; the dynamic obstacle is a moving obstacle;
the interference judging unit is used for determining whether the first global path interferes with the dynamic obstacle according to the positions of the first global path and the dynamic obstacle;
the new path planning unit is used for re-planning the global path after the interference is determined to occur so as to obtain a new global path; otherwise, the motion is carried out according to the first global path.
Further, as for the device for avoiding static obstacles by the robot, the local map obtaining unit includes:
the image information acquisition module is used for periodically detecting image information in the movement direction of the robot through a laser radar;
and the local map generation module is used for generating a local map in the movement direction of the robot according to the image information.
Further, in the device for avoiding a static obstacle for a robot, the interference determination unit includes:
the obstacle cost value checking module is used for checking the obstacle cost value of each path point on the first global path according to a certain frequency, the first global path is formed by connecting a plurality of continuous path points, and the obstacle cost value represents the distance between each path point in the global path and the nearest obstacle;
and the first interference judging module is used for determining that the global path and the dynamic obstacle interfere with each other if the distance between the path point and the obstacle represented by the obstacle cost value of a certain path point exceeds a threshold value, otherwise, the global path and the dynamic obstacle do not interfere with each other.
Further, according to the foregoing device for avoiding static obstacle for a robot, the new path planning unit includes:
an obstacle position acquisition module for acquiring an obstacle in the environment and a position of the dynamic obstacle;
and the new path planning module is used for carrying out secondary global path planning according to the position of the obstacle and the position of the dynamic obstacle and obtaining the new global path.
Further, according to the foregoing device for avoiding static obstacle for a robot, the new path planning module includes:
a second interference judging module, configured to determine, according to a second local map, that the current position of the dynamic obstacle interferes with a second global path obtained by the second global path planning;
the obstacle avoidance direction determining module is used for determining that the motion direction of the dynamic obstacle is consistent with the obstacle avoidance direction of the second global path;
a new path obstacle avoidance direction determining module, configured to use a reverse direction of the obstacle avoidance direction of the second global path as an obstacle avoidance direction of the new global path plan;
and the new path obtaining module is used for obtaining the new global path according to the obstacle avoiding direction of the new global path plan and the current position of the dynamic obstacle.
In the embodiment of the application, a first global path is determined according to a terminal point of the robot in the traveling process and an obstacle in the environment by combining global path planning and local path planning; periodically acquiring a local map in the movement direction of the robot; when the fact that a dynamic obstacle exists in the movement direction is determined according to the local map, the position of the dynamic obstacle is obtained; the dynamic obstacle is a moving obstacle; determining whether the first global path interferes with the dynamic barrier according to the positions of the first global path and the dynamic barrier; after the interference is determined, the global path planning is carried out again to obtain a new global path; otherwise, the motion is carried out according to the first global path. Compared with the technical effects of detecting information in a local map in real time and bypassing moving obstacles, the monitoring method has the advantages of less resource consumption and higher speed because the generation frequency of the global path is relatively low, and further solves the technical problem of rotation or oscillation of the front obstacle caused by the fact that the robot faces only according to the local map for speed planning.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, serve to provide a further understanding of the application and to enable other features, objects, and advantages of the application to be more apparent. The drawings and their description illustrate the embodiments of the invention and do not limit it. In the drawings:
FIG. 1 is a schematic flow diagram of a method according to an embodiment of the present application;
FIG. 2 is a schematic diagram of an embodiment of step S2 according to the embodiment of FIG. 1;
FIG. 3 is a diagram illustrating an exemplary implementation of step S4 according to the embodiment shown in FIG. 1;
FIG. 4 is a diagram illustrating an exemplary implementation of step S5 according to the embodiment shown in FIG. 1;
FIG. 5 is a diagram illustrating an exemplary implementation of step S52 according to the embodiment shown in FIG. 4;
FIG. 6 is a schematic diagram of an apparatus module according to an embodiment of the present application;
FIG. 7 is a block diagram of an embodiment of the module 2 according to the embodiment of FIG. 6;
FIG. 8 is a block diagram of one embodiment of the module 4 according to the embodiment of FIG. 6;
FIG. 9 is a block diagram of an embodiment of the module 5 according to the embodiment of FIG. 6; and
fig. 10 is a block diagram of one embodiment of a module 52 according to the embodiment of fig. 9.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In this application, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings. These terms are used primarily to better describe the invention and its embodiments and are not intended to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.
Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meanings of these terms in the present invention can be understood by those skilled in the art as appropriate.
Furthermore, the terms "mounted," "disposed," "provided," "connected," and "sleeved" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; can be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements or components. The specific meanings of the above terms in the present invention can be understood by those of ordinary skill in the art according to specific situations.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
As shown in fig. 1, the present invention provides a method for a robot to avoid dynamic obstacles, which includes the following steps S1 to S6:
s1, determining a first global path according to a traveling terminal of a robot and an obstacle in an environment;
s2, periodically acquiring a local map in the motion direction of the robot;
s3, when the fact that dynamic obstacles exist in the movement direction is determined according to the local map, the position of the dynamic obstacles is obtained; the dynamic obstacle is a moving obstacle;
s4, determining whether the first global path interferes with the dynamic barrier according to the positions of the first global path and the dynamic barrier;
s5, after the interference is determined to occur, planning the global path again to obtain a new global path; otherwise, the motion is carried out according to the first global path.
Because the global path planner has not so high triggering frequency, after a global path plan is triggered once, the planned path can bypass the obstacle on the map when triggered, compared with the technical scheme in the related art, in the embodiment, when the global path plan faces the dynamic obstacle, the path plan given by the global path can bypass from the left or from the right of the dynamic obstacle, and the like, but the global path does not update the path after starting and does not interfere with the obstacle any more, the speed of issuing along the unobstructed path is locally started, and the rotation or oscillation of the robot facing the obstacle facing the front is eliminated.
Generally, the implementation method of step S1 is as follows:
acquiring a static global map of an area needing obstacle avoidance;
gridding the static global map to obtain a static grid map, and determining an obstacle region in the static grid map;
determining obstacle cost values o _ cost of grid points in a reachable area according to the obstacle areas, wherein the reachable area is an area outside the obstacle areas in the static grid map, and the obstacle cost values represent distances between the grid points in the reachable area and the nearest obstacle areas;
taking grid points corresponding to the starting position of the robot in the static grid map as path points 0 in an obstacle avoidance path;
determining the comprehensive cost value of each adjacent grid point of the path point 0; the comprehensive cost value is obtained according to the cost value m _ cost of the adjacent point, the distance cost value dest _ cost and the obstacle cost value o _ cost; the neighboring point cost value characterizes a distance between the neighboring grid point and the path point 0; the distance cost value represents the distance from each adjacent grid point to a target point;
determining an adjacent grid point as a path point 1 in the obstacle avoidance path according to the comprehensive cost value of each adjacent grid point; sequentially iterating until the obtained path point N is the target point;
and connecting the path point 0 to the path point N in sequence to obtain the complete first global path.
As shown in fig. 2, in some embodiments, the method for avoiding a static obstacle by a robot as described above, the step S2 of periodically obtaining a local map in the moving direction of the robot includes:
s201, periodically detecting image information in the motion direction of the robot through a laser radar;
and S202, generating a local map in the movement direction of the robot according to the image information.
As shown in fig. 3, in some embodiments, the method for avoiding a static obstacle by a robot as described above, the determining whether the first global path interferes with the dynamic obstacle in step S4 includes:
s401, checking the barrier cost value of each path point on the first global path according to a certain frequency, wherein the first global path is formed by connecting a plurality of continuous path points, and the barrier cost value represents the distance between each path point in the global path and the nearest barrier; the obstacle value is obtained in a manner consistent with the method of obtaining the comprehensive value in step S1; specifically, the frequency of the inspection can be set according to specific conditions;
s402, if the fact that the distance between the path point and the obstacle represented by the obstacle cost value of a certain path point exceeds a threshold value is detected, it is determined that the global path and the dynamic obstacle interfere, and if not, the global path and the dynamic obstacle do not interfere.
As shown in fig. 4, in some embodiments, according to the foregoing method for avoiding a static obstacle, the re-planning the path in step S5 to obtain a new global path includes:
s51, obtaining the position of the obstacle and the dynamic obstacle in the environment; since the robot periodically acquires the global map, the latest position of the dynamic obstacle is acquired at the same period; and, generally, what is obtained here is the position of the dynamic obstacle separated by a period of time;
and S52, performing secondary global path planning according to the position of the obstacle and the position of the dynamic obstacle, and obtaining the new global path, wherein the method for performing the secondary global path planning is consistent with the method in the step S1.
As shown in fig. 5, in some embodiments, the method for avoiding static obstacles by a robot as described above, the step S52 includes:
s521, if the current position of the dynamic obstacle is determined to interfere with a second global path obtained by the second global path planning according to another local map;
s522, determining that the motion direction of the dynamic obstacle is consistent with the obstacle avoidance direction of the second global path;
s523, taking the reverse direction of the obstacle avoiding direction of the second global path as the obstacle avoiding direction of the new global path plan;
and S524, obtaining the new global path according to the obstacle avoidance direction of the new global path plan and the current position of the dynamic obstacle.
Specifically, when an obstacle interferes with the first global path, the second global path is re-planned according to a static obstacle avoidance strategy. If in the next cycle of monitoring whether the path interferes with the obstacle, the obstacle blocking on the second global path is detected, and then the moving direction of the obstacle is consistent with the obstacle avoiding direction of the robot/the second global path. At this time, when the global path is planned again, the movement direction of the obstacle can be deduced by comparing the change direction of the global path, so that the obstacle cost value of a point on the second global path is increased, and the robot plans a safe path in the opposite direction of the movement of the dynamic obstacle.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order different than presented herein.
According to an embodiment of the present invention, there is also provided an apparatus for implementing the above method for avoiding dynamic obstacles by a robot, as shown in fig. 6, the apparatus including:
in order to achieve the above object, according to another aspect of the present application, there is provided a device for a robot to evade a dynamic obstacle.
The robot dynamic obstacle avoidance device according to the present application includes:
the first global path planning unit 1 is used for determining a first global path according to a terminal point of the robot in the traveling process and an obstacle in the environment;
the local map acquisition unit 2 is used for periodically acquiring a local map in the movement direction of the robot;
a dynamic obstacle position obtaining unit 3, configured to obtain a position of a dynamic obstacle when it is determined that a dynamic obstacle exists in a movement direction according to the local map; the dynamic obstacle is a moving obstacle;
an interference judging unit 4, configured to determine whether the first global path interferes with the dynamic obstacle according to the positions of the first global path and the dynamic obstacle;
the new path planning unit 5 is used for re-planning the global path after the interference is determined to occur, so as to obtain a new global path; otherwise, the motion is carried out according to the first global path.
As shown in fig. 7, in some embodiments, the local map obtaining unit 2, as the aforementioned device for avoiding static obstacles for a robot, includes:
the image information acquisition module 21 is used for periodically detecting image information in the movement direction of the robot through a laser radar;
and a local map generation module 22, configured to generate a local map in the robot movement direction according to the image information.
As shown in fig. 8, in some embodiments, the interference determination unit 4, in the device for avoiding static obstacles of a robot, includes:
an obstacle cost value checking module 41, configured to check an obstacle cost value of each path point on the first global path according to a certain frequency, where the first global path is formed by connecting multiple continuous path points, and the obstacle cost value represents a distance between each path point in the global path and a closest obstacle;
a first interference judging module 42, configured to determine that the global path and the dynamic obstacle interfere with each other if it is detected that a distance between the path point and the obstacle, which is characterized by the obstacle cost value of a certain path point, exceeds a threshold, otherwise, the global path and the dynamic obstacle do not interfere with each other.
As shown in fig. 9, in some embodiments, the new path planning unit 5 includes, as the aforementioned means for the robot to avoid static obstacles:
an obstacle position obtaining module 51, configured to obtain a position of the obstacle and the dynamic obstacle in the environment;
and a new path planning module 52, configured to perform a second global path planning according to the position of the obstacle and the position of the dynamic obstacle, and obtain the new global path.
As shown in fig. 10, in some embodiments, the new path planning module 52 includes, as the aforesaid means for the robot to avoid static obstacles:
a second interference judging module 521, configured to determine, if the current position of the dynamic obstacle interferes with a second global path obtained by the second global path planning according to another local map;
an obstacle avoidance direction determining module 522, configured to determine that a motion direction of the dynamic obstacle is consistent with an obstacle avoidance direction of the second global path;
a new path obstacle avoidance direction determining module 523, configured to use a reverse direction of the obstacle avoidance direction of the second global path as an obstacle avoidance direction of the new global path plan;
a new path obtaining module 524, configured to obtain the new global path according to the obstacle avoidance direction of the new global path plan and the current position of the dynamic obstacle.
It will be apparent to those skilled in the art that the modules or steps of the present invention described above may be implemented by a general purpose computing device, they may be centralized on a single computing device or distributed across a network of multiple computing devices, and they may alternatively be implemented by program code executable by a computing device, such that they may be stored in a storage device and executed by a computing device, or fabricated separately as individual integrated circuit modules, or fabricated as a single integrated circuit module from multiple modules or steps. Thus, the present invention is not limited to any specific combination of hardware and software.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (8)
1. A method of a robot for evading dynamic obstacles, comprising:
determining a first global path according to a terminal point of the robot in the traveling process and an obstacle in the environment;
periodically acquiring a local map in the movement direction of the robot;
when the fact that a dynamic obstacle exists in the movement direction is determined according to the local map, the position of the dynamic obstacle is obtained; the dynamic obstacle is a moving obstacle;
determining whether the first global path interferes with the dynamic barrier according to the positions of the first global path and the dynamic barrier;
after the interference is determined, the global path planning is carried out again to obtain a new global path; otherwise, moving according to the first global path;
the re-planning the path to obtain a new global path includes: if the current position of the dynamic obstacle is determined to interfere with a second global path obtained by the second global path planning according to the other local map; determining that the motion direction of the dynamic obstacle is consistent with the obstacle avoidance direction of the second global path; taking the opposite direction of the obstacle avoidance direction of the second global path as the obstacle avoidance direction of the new global path plan; obtaining the new global path according to the obstacle avoidance direction of the new global path plan and the current position of the dynamic obstacle;
the determining a first global path from the end point of robot travel and the obstacle in the environment comprises:
acquiring a static global map of an area needing obstacle avoidance;
gridding the static global map to obtain a static grid map, and determining an obstacle region in the static grid map;
determining obstacle cost values o _ cost of grid points in a reachable area according to the obstacle areas, wherein the reachable area is an area outside the obstacle areas in the static grid map, and the obstacle cost values represent distances between the grid points in the reachable area and the nearest obstacle areas;
taking grid points corresponding to the starting position of the robot in the static grid map as path points 0 in an obstacle avoidance path;
determining the comprehensive cost value of each adjacent grid point of the path point 0; the comprehensive cost value is obtained according to the cost value m _ cost of the adjacent point, the distance cost value dest _ cost and the obstacle cost value o _ cost; the neighboring point cost value characterizes a distance between the neighboring grid point and the path point 0; the distance cost value represents the distance from each adjacent grid point to a target point;
determining an adjacent grid point as a path point 1 in the obstacle avoidance path according to the comprehensive cost value of each adjacent grid point; sequentially iterating until the obtained path point N is the target point;
and connecting the path point 0 to the path point N in sequence to obtain the complete first global path.
2. A method for a robot to avoid dynamic obstacles according to claim 1, wherein periodically obtaining a local map of the robot in the direction of motion comprises:
periodically detecting image information in the motion direction of the robot through a laser radar;
and generating a local map in the movement direction of the robot according to the image information.
3. A method of a robot avoiding a dynamic obstacle as recited in claim 1, wherein said determining whether said first global path interferes with said dynamic obstacle comprises:
checking the barrier cost value of each path point on the first global path according to a certain frequency, wherein the first global path is formed by connecting a plurality of continuous path points, and the barrier cost value represents the distance between each path point in the global path and the nearest barrier;
and if the distance between the path point and the obstacle, which is characterized by the obstacle cost value of a certain path point, is detected to exceed a threshold value, determining that the global path and the dynamic obstacle interfere, otherwise, determining that the global path and the dynamic obstacle do not interfere.
4. A method for a robot to avoid dynamic obstacles according to claim 1, wherein said re-planning a path to obtain a new global path comprises:
acquiring obstacles in the environment and positions of the dynamic obstacles;
and carrying out secondary global path planning according to the position of the obstacle and the position of the dynamic obstacle, and obtaining the new global path.
5. A device for a robot to evade dynamic obstacles, comprising:
the first global path planning unit is used for determining a first global path according to a terminal point of the robot in the traveling process and an obstacle in the environment;
the local map acquisition unit is used for periodically acquiring a local map in the movement direction of the robot;
the dynamic obstacle position obtaining unit is used for obtaining the position of the dynamic obstacle when the movement direction is determined to have the dynamic obstacle according to the local map; the dynamic obstacle is a moving obstacle;
the interference judging unit is used for determining whether the first global path interferes with the dynamic obstacle according to the positions of the first global path and the dynamic obstacle;
the new path planning unit is used for re-planning the global path after the interference is determined to occur so as to obtain a new global path; otherwise, moving according to the first global path;
the re-planning the path to obtain a new global path includes: if the current position of the dynamic obstacle is determined to interfere with a second global path obtained by the second global path planning according to the other local map; determining that the motion direction of the dynamic obstacle is consistent with the obstacle avoidance direction of the second global path; taking the opposite direction of the obstacle avoidance direction of the second global path as the obstacle avoidance direction of the new global path plan; obtaining the new global path according to the obstacle avoidance direction of the new global path plan and the current position of the dynamic obstacle;
the determining a first global path from the end point of robot travel and the obstacle in the environment comprises:
acquiring a static global map of an area needing obstacle avoidance;
gridding the static global map to obtain a static grid map, and determining an obstacle region in the static grid map;
determining obstacle cost values o _ cost of grid points in a reachable area according to the obstacle areas, wherein the reachable area is an area outside the obstacle areas in the static grid map, and the obstacle cost values represent distances between the grid points in the reachable area and the nearest obstacle areas;
taking grid points corresponding to the starting position of the robot in the static grid map as path points 0 in an obstacle avoidance path;
determining the comprehensive cost value of each adjacent grid point of the path point 0; the comprehensive cost value is obtained according to the cost value m _ cost of the adjacent point, the distance cost value dest _ cost and the obstacle cost value o _ cost; the neighboring point cost value characterizes a distance between the neighboring grid point and the path point 0; the distance cost value represents the distance from each adjacent grid point to a target point;
determining an adjacent grid point as a path point 1 in the obstacle avoidance path according to the comprehensive cost value of each adjacent grid point; sequentially iterating until the obtained path point N is the target point;
and connecting the path point 0 to the path point N in sequence to obtain the complete first global path.
6. A robot dynamic obstacle avoidance apparatus according to claim 5, wherein said local map acquisition unit comprises:
the image information acquisition module is used for periodically detecting image information in the movement direction of the robot through a laser radar;
and the local map generation module is used for generating a local map in the movement direction of the robot according to the image information.
7. The robot dynamic obstacle avoidance device according to claim 5, wherein the interference determination unit includes:
the obstacle cost value checking module is used for checking the obstacle cost value of each path point on the first global path according to a certain frequency, the first global path is formed by connecting a plurality of continuous path points, and the obstacle cost value represents the distance between each path point in the global path and the nearest obstacle;
and the first interference judging module is used for determining that the global path and the dynamic obstacle interfere with each other if the distance between the path point and the obstacle represented by the obstacle cost value of a certain path point exceeds a threshold value, otherwise, the global path and the dynamic obstacle do not interfere with each other.
8. A robot dynamic obstacle avoidance apparatus according to claim 5, wherein said new path planning unit comprises:
an obstacle position acquisition module for acquiring an obstacle in the environment and a position of the dynamic obstacle;
and the new path planning module is used for carrying out secondary global path planning according to the position of the obstacle and the position of the dynamic obstacle and obtaining the new global path.
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