CN108544491A - A kind of moving robot obstacle avoiding method considering distance and two factor of direction - Google Patents
A kind of moving robot obstacle avoiding method considering distance and two factor of direction Download PDFInfo
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- CN108544491A CN108544491A CN201810289260.3A CN201810289260A CN108544491A CN 108544491 A CN108544491 A CN 108544491A CN 201810289260 A CN201810289260 A CN 201810289260A CN 108544491 A CN108544491 A CN 108544491A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
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- Robotics (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention discloses a kind of moving robot obstacle avoiding method considering two factors of distance and direction.This method quantizes the fusion problem between the distance and direction of barrier, obtains a unified measurement standard, referred to as barrier danger angle value.The barrier of the greatest danger angle value obtains preferential avoidance, this method can make mobile robot be infinitely variable the angular speed and linear velocity of movement naturally according to real-time environmental information, safety guarantee of both distance and direction is provided for robot, there is Practical significance for the safety navigation of robot.
Description
Technical field
The invention belongs to mobile robot barrier evacuation control system fields, particularly, are related to a kind of based on Laser Measuring
Moving robot obstacle avoiding method away from sensor.
Background technology
In recent years, robot and intelligent vehicle cannot reach or high in mankind such as battlefield attacking and defending, rescue and relief work, Science Explorations
It spends in dangerous environment and embodies more and more important application.With the development of robot technology, robot application is promoted
The working environment of the continuous extension in field, robot also becomes increasingly complex therewith.Robot can encounter various during the motion
The barrier of various kinds, this results in robot, and there is great dangers during its Navigational Movements.Therefore whether have
Standby quickly and effectively avoiding barrier ability is the key that robot realizes safety navigation.At present in most of barrier-avoiding method,
It is usually main to consider the distance between barrier and robot to carry out avoidance operation.This method reduces the orientation of barrier
Influence of the information to robot obstacle-avoiding.Distance and direction are that robot refers to two primary evaluations of barrier progress avoidance judge
Mark answers preferential avoidance apart from close, and the barrier in front also should preferential avoidance.It is proposed to this end that it is a kind of merged distance and
The moving robot obstacle avoiding method based on laser radar sensor in direction, provides more the safety navigation of robot
Safety guarantee has Practical significance for the safety navigation of robot.
Invention content
The present invention be directed to existing method deficiency, propose it is a kind of consider two factor of distance and bearing based on Laser Measuring
Moving robot obstacle avoiding method away from sensor.
In order to achieve the above object, the present invention is divided into three parts：First part is part around mobile robot itself
The fetching portion of environmental information；Second part is the dangerous obstacles extraction for considering two factors of distance and bearing, third
Part is the Mobile Robot Obstacle Avoidance based on barrier danger level.
The operating procedure of barrier-avoiding method is as follows：
One：The acquisition of local environmental information
Step 1：By installing two laser range finders back-to-back come the ambient enviroment of scanning machine people, one 360 ° are formed
Circular scan face.It scans each time and can get a frame scan data, be expressed as array Ak
Wherein k indicates kth time scanning ambient enviroment；For laser scanning angular resolution；N is that scanning can get each time
Laser ranging data number, namely share N number of distance measurement value；diIndicate ith measurement value, 1≤i≤N.So AkAs one
The local environmental information that secondary scanning circumstance is obtained.
Two：Calculate the barrier danger level for considering two factors of distance and bearing
Step 2：It enables i since 1, i-th of distance measurement value is calculated separately in robot local Coordinate System by formula (2) (3)
Coordinate (xi,yi), whereinFor the deviation angle of i-th of distance measurement value.
Step 3：Calculate temporary variable S
S=max (0.56yi+2.56,0) (4)
Step 4：Calculate temporary variable K
K=max (yi+ 0.56, eps), wherein eps=0.00001 (5)
Step 5：Calculate ri
ri=max (1- (yi 2+Sxi 2)/K,0) 1≤i≤N (6)
riBarrier danger angle value of the distance with direction, and 0≤r have been merged corresponding to as i-th of distance measurei
≤1.If ri=1, indicate the barrier danger level highest corresponding to i-th of distance measure, ri=0 indicates that i-th of distance is surveyed
Barrier corresponding to magnitude is safe from danger.
Step 6：If i≤N, step 2 is returned to until obtaining the dangerous angle value array containing N number of element
R={ r1,r2,…,rN} (7)
Three：Mobile Robot Obstacle Avoidance based on barrier danger level
Step 7：Find out highest danger angle valueIts corresponding i-thmaxA laser ranging value
Step 8：IfIt indicates that dangerous barrier exists, then calculates between dangerous obstacles and robot
Angle
IfIt then indicates the barrier presence that is safe from danger, jumps to step 1.
Step 9：The angular velocity omega of avoidance movement is carried out by formula (10), (11) calculating robot and linear velocity v is indicated
It is as follows:
Wherein ωpreWith vpreThe angular speed and linear velocity of robot when to be switched to avoid-obstacle behavior；ωmaxWith vmaxFor machine
People's maximum angular rate and linear velocity；α and β is intensity factor.
Step 10：It jumps to step 1 and continues to run until that robot completes motor task.
Advantageous effect:The present invention is by distance and the information in direction are carried out data fusion, forming a single weighing apparatus
Amount standard, as barrier danger angle value.Have the characteristics that computation complexity is low and real-time is good.The design can make mobile machine
People is infinitely variable the angular speed and linear velocity of movement according to real-time environmental information naturally, so as to ensure that robot realizes
Safer Navigation Control.
Description of the drawings
Fig. 1 is the flow diagram of moving robot obstacle avoiding method；
Fig. 2 is the movement sectional drawing in the implementation process of moving robot obstacle avoiding method.
Specific implementation mode：
The present invention moves in the environment with robot, while with the part around the acquisition robot of laser range finder
Environmental information, the distance and bearing for considering environmental information obtain a single measurement standard, i.e. barrier danger angle value,
Robot generates suitable avoidance linear velocity and angular speed according to dangerous angle value, completes avoid-obstacle behavior.Fig. 2 keeps away for mobile robot
Movement sectional drawing in barrier method implementation process.From movement locus as it can be seen that the successful avoiding obstacles of robot reach eventually from starting point
Point.
As shown in Figure 1, the specific implementation mode of whole process of the present invention illustrated below：
First part：The acquisition of local environmental information
Step 1：By installing two laser range finders back-to-back come the ambient enviroment of scanning machine people, one 360 ° are formed
Circular scan face.It scans each time and can get a frame scan data, the array A that kth time scanning ambient enviroment obtainsk
For laser scanning angular resolution, settingTherefore it scans can get 360 range data each time.
Second part：Calculate the barrier danger level for considering two factors of distance and bearing
Step 2：I calculates separately i-th of distance measure in robot local Coordinate System since 1, by formula (2) (3)
In coordinate (xi,yi), whereinFor the deviation angle of i-th of distance measurement value.
xi=dicos(i·1) (2)
yi=disin(i·1) (3)
Step 3：Calculate temporary variable S
S=max (0.56yi+2.56,0) (4)
Step 4：Calculate temporary variable K
K=max (yi+ 0.56, eps), wherein eps=0.00001 (5)
Step 5：Calculate ri
ri=max (1- (yi 2+Sxi 2)/K,0)(1≤i≤N) (6)
riThe danger level of barrier corresponding to as i-th of distance measure, and 0≤ri≤1.If ri=1, it indicates
Barrier danger level highest corresponding to i-th of distance measure, ri=0 indicates the obstacle corresponding to i-th of distance measure
Object is safe from danger.
Step 6：If i≤N, step 2 is returned to until obtaining the dangerous angle value array containing N=360 element
R={ r1,r2,…,rN} (7)
Part III：Mobile Robot Obstacle Avoidance based on barrier danger level
Step 7：Find out highest danger angle valueIts corresponding i-thmaxA laser ranging value
Step 8：IfIt indicates that dangerous barrier exists, then calculates between dangerous obstacles and robot
Angle
IfIt then indicates the barrier presence that is safe from danger, jumps to step 1.
Step 9：The angular velocity omega of avoidance movement is carried out by formula (10) (11) calculating robot and linear velocity v is indicated such as
Under:
Wherein ωpreWith vpreThe angular speed and linear velocity of robot when to be switched to avoid-obstacle behavior；ωmaxWith vmaxFor machine
People's maximum angular rate and linear velocity；α and β is intensity factor, and α=2, β=4 are arranged.
Step 10：It jumps to step 1 and continues to run until that robot completes motor task.
Claims (1)
1. a kind of moving robot obstacle avoiding method considering distance and two factor of direction, which is characterized in that this method is specific
Include the following steps：
One：The acquisition of local environmental information
Step 1：By installing two laser range finders back-to-back come the ambient enviroment of scanning machine people, one 360 ° of circle is formed
Shape scanning plane；It scans each time and can get a frame scan data, be expressed as array Ak
Wherein k indicates kth time scanning ambient enviroment；For laser scanning angular resolution；N, which is that scanning each time is obtainable, to be swashed
The number of ligh-ranging data, namely share N number of distance measurement value；diIndicate ith measurement value, 1≤i≤N；So AkAs once sweep
Retouch the local environmental information that environment is obtained；
Two：Calculate the barrier danger level for considering two factors of distance and bearing
Step 2：It enables i since 1, seat of i-th of distance measurement value in robot local Coordinate System is calculated separately by formula (2) (3)
Mark (xi,yi), whereinFor the deviation angle of i-th of distance measurement value；
Step 3：Calculate temporary variable S
S=max (0.56yi+2.56,0) (4)
Step 4：Calculate temporary variable K
K=max (yi+ 0.56, eps), wherein eps=0.00001 (5)
Step 5：Calculate ri
ri=max (1- (yi 2+Sxi 2)/K,0) 1≤i≤N (6)
riBarrier danger angle value of the distance with direction, and 0≤r have been merged corresponding to as i-th of distance measurei≤1；
If ri=1, indicate the barrier danger level highest corresponding to i-th of distance measure, ri=0 indicates i-th of distance measure
Corresponding barrier is safe from danger；
Step 6：If i≤N, step 2 is returned to until obtaining the dangerous angle value array containing N number of element
R={ r1,r2,…,rN} (7)
Three：Mobile Robot Obstacle Avoidance based on barrier danger level
Step 7：Find out highest danger angle valueIts corresponding i-thmaxA laser ranging value
Step 8：IfIt indicates that dangerous barrier exists, then calculates the angle between dangerous obstacles and robot
IfIt then indicates the barrier presence that is safe from danger, jumps to step 1；
Step 9：The angular velocity omega of avoidance movement is carried out by formula (10), (11) calculating robot and linear velocity v indicates as follows:
Wherein ωpreWith vpreThe angular speed and linear velocity of robot when to be switched to avoid-obstacle behavior；ωmaxWith vmaxMost for robot
Big angular speed and linear velocity；α and β is intensity factor；
Step 10：It jumps to step 1 and continues to run until that robot completes motor task.
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| CN113069094A (en) * | 2021-03-22 | 2021-07-06 | 浙江华彩光电科技有限公司 | Wearable appliance with explosion-proof abnormality detection and physiological early warning functions |
| CN113110413A (en) * | 2021-03-10 | 2021-07-13 | 成都永奉科技有限公司 | Following robot, following control method and following control system |
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| CN108544491B (en) | 2020-04-28 |
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