CN108303986A - 一种激光slam导航的临时障碍物处理方法 - Google Patents
一种激光slam导航的临时障碍物处理方法 Download PDFInfo
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- 230000003993 interaction Effects 0.000 claims abstract description 15
- 230000003068 static effect Effects 0.000 claims abstract description 10
- 238000001514 detection method Methods 0.000 claims abstract description 8
- 230000008676 import Effects 0.000 claims abstract description 4
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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
- 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, 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
- G05D1/0221—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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- 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
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- Aviation & Aerospace Engineering (AREA)
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- Automation & Control Theory (AREA)
- Optics & Photonics (AREA)
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CN201810196055.2A CN108303986B (zh) | 2018-03-09 | 2018-03-09 | 一种激光slam导航的临时障碍物处理方法 |
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Cited By (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109991982A (zh) * | 2019-04-09 | 2019-07-09 | 广东嘉腾机器人自动化有限公司 | 一种agv小车控制方法、装置及agv小车 |
CN110081886A (zh) * | 2019-04-02 | 2019-08-02 | 北京云迹科技有限公司 | 告警方法及装置 |
CN110244708A (zh) * | 2019-05-16 | 2019-09-17 | 芜湖智久机器人有限公司 | 一种agv车避障系统及方法 |
CN110874102A (zh) * | 2020-01-16 | 2020-03-10 | 天津联汇智造科技有限公司 | 一种移动机器人虚拟安全防护区域保护系统以及方法 |
CN111435165A (zh) * | 2018-12-26 | 2020-07-21 | 保定市天河电子技术有限公司 | 基于激光雷达的运输车障碍检测方法及系统 |
CN111830985A (zh) * | 2020-07-24 | 2020-10-27 | 中南大学 | 一种多机器人定位方法、系统及集中式通信系统 |
CN112083421A (zh) * | 2020-09-11 | 2020-12-15 | 中国民航科学技术研究院 | 一种基于毫米波雷达技术的跑道侵入预警系统及方法 |
CN112394737A (zh) * | 2021-01-19 | 2021-02-23 | 广州赛特智能科技有限公司 | 一种基于障碍检测的移动机器人自适应速度调节方法 |
CN112549032A (zh) * | 2020-12-09 | 2021-03-26 | 深圳市优必选科技股份有限公司 | 一种机器人的控制方法、装置、设备及存储介质 |
EP3851872A1 (en) * | 2020-01-16 | 2021-07-21 | Outsight | Object detection on a path of travel and obstacle detection on railway tracks using free space information |
CN113574524A (zh) * | 2018-10-18 | 2021-10-29 | 自动智能科技有限公司 | 用于障碍物检测的方法和系统 |
JP2022141380A (ja) * | 2021-03-15 | 2022-09-29 | 三菱重工業株式会社 | 移動体の制御方法、移動体及びプログラム |
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RU2012126039A (ru) * | 2012-06-25 | 2013-12-27 | Федеральное государственное бюджетное образовательное учреждение высшего профессионального образования "Московский государственный индустриальный университет" | Способ предупреждения столкновения транспортного средства с динамическим препятствием |
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CN106959696A (zh) * | 2017-05-10 | 2017-07-18 | 北京京东尚科信息技术有限公司 | 运动目标的控制方法和装置 |
CN106997049A (zh) * | 2017-03-14 | 2017-08-01 | 奇瑞汽车股份有限公司 | 一种基于激光点云数据的检测障碍物的方法和装置 |
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CN101359229A (zh) * | 2008-08-18 | 2009-02-04 | 浙江大学 | 一种基于障碍物运动预测的移动机器人避障方法 |
RU2012126039A (ru) * | 2012-06-25 | 2013-12-27 | Федеральное государственное бюджетное образовательное учреждение высшего профессионального образования "Московский государственный индустриальный университет" | Способ предупреждения столкновения транспортного средства с динамическим препятствием |
CN105074602A (zh) * | 2013-03-29 | 2015-11-18 | 株式会社日立产机系统 | 位置识别装置和具有该位置识别装置的移动机器人 |
CN106164800A (zh) * | 2014-03-28 | 2016-11-23 | 洋马株式会社 | 自主行驶作业车辆 |
CN105049600A (zh) * | 2015-06-05 | 2015-11-11 | 惠州Tcl移动通信有限公司 | 一种基于红外测距传感器的移动终端自动提醒方法及系统 |
CN105182979A (zh) * | 2015-09-23 | 2015-12-23 | 上海物景智能科技有限公司 | 一种移动机器人障碍物检测及避让方法和系统 |
CN106054900A (zh) * | 2016-08-08 | 2016-10-26 | 电子科技大学 | 基于深度摄像头的机器人临时避障方法 |
CN106291736A (zh) * | 2016-08-16 | 2017-01-04 | 张家港长安大学汽车工程研究院 | 无人驾驶汽车车道动态障碍物检测方法 |
CN106338996A (zh) * | 2016-10-20 | 2017-01-18 | 上海物景智能科技有限公司 | 一种移动机器人安全控制的方法及系统 |
CN106324619A (zh) * | 2016-10-28 | 2017-01-11 | 武汉大学 | 一种变电站巡检机器人自动避障方法 |
CN106997049A (zh) * | 2017-03-14 | 2017-08-01 | 奇瑞汽车股份有限公司 | 一种基于激光点云数据的检测障碍物的方法和装置 |
CN106959696A (zh) * | 2017-05-10 | 2017-07-18 | 北京京东尚科信息技术有限公司 | 运动目标的控制方法和装置 |
Cited By (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113574524A (zh) * | 2018-10-18 | 2021-10-29 | 自动智能科技有限公司 | 用于障碍物检测的方法和系统 |
CN111435165A (zh) * | 2018-12-26 | 2020-07-21 | 保定市天河电子技术有限公司 | 基于激光雷达的运输车障碍检测方法及系统 |
CN110081886A (zh) * | 2019-04-02 | 2019-08-02 | 北京云迹科技有限公司 | 告警方法及装置 |
CN109991982A (zh) * | 2019-04-09 | 2019-07-09 | 广东嘉腾机器人自动化有限公司 | 一种agv小车控制方法、装置及agv小车 |
CN110244708A (zh) * | 2019-05-16 | 2019-09-17 | 芜湖智久机器人有限公司 | 一种agv车避障系统及方法 |
EP3851872A1 (en) * | 2020-01-16 | 2021-07-21 | Outsight | Object detection on a path of travel and obstacle detection on railway tracks using free space information |
CN110874102A (zh) * | 2020-01-16 | 2020-03-10 | 天津联汇智造科技有限公司 | 一种移动机器人虚拟安全防护区域保护系统以及方法 |
CN111830985A (zh) * | 2020-07-24 | 2020-10-27 | 中南大学 | 一种多机器人定位方法、系统及集中式通信系统 |
CN112083421A (zh) * | 2020-09-11 | 2020-12-15 | 中国民航科学技术研究院 | 一种基于毫米波雷达技术的跑道侵入预警系统及方法 |
CN112549032A (zh) * | 2020-12-09 | 2021-03-26 | 深圳市优必选科技股份有限公司 | 一种机器人的控制方法、装置、设备及存储介质 |
CN112394737B (zh) * | 2021-01-19 | 2021-05-18 | 广州赛特智能科技有限公司 | 一种基于障碍检测的移动机器人自适应速度调节方法 |
CN112394737A (zh) * | 2021-01-19 | 2021-02-23 | 广州赛特智能科技有限公司 | 一种基于障碍检测的移动机器人自适应速度调节方法 |
JP2022141380A (ja) * | 2021-03-15 | 2022-09-29 | 三菱重工業株式会社 | 移動体の制御方法、移動体及びプログラム |
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