CN110262481A - A kind of Mobile Robot Obstacle Avoidance control method based on enzyme numerical value membranous system - Google Patents
A kind of Mobile Robot Obstacle Avoidance control method based on enzyme numerical value membranous system Download PDFInfo
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- CN110262481A CN110262481A CN201910483252.7A CN201910483252A CN110262481A CN 110262481 A CN110262481 A CN 110262481A CN 201910483252 A CN201910483252 A CN 201910483252A CN 110262481 A CN110262481 A CN 110262481A
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- numerical value
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- membranous system
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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
- G05D1/0223—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 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 invention discloses a kind of Mobile Robot Obstacle Avoidance control methods based on enzyme numerical value membranous system, are related to intelligent robot and control technology field, acquisition and processing and design avoid-obstacle behavior enzyme numerical value film control system including local environmental information.The beneficial effects of the present invention are: a kind of Mobile Robot Obstacle Avoidance control method based on enzyme numerical value membranous system, by obtaining local environmental information, and utilize the distance value x i of the n range sensor acquired disturbance object on the mobile robot whole body and respective sensor, and linear transformation is carried out to xi, obtained sensor values si is multiplied and adds up with weight, it calculates cruising speed and calculates left and right wheel speed, so that the control method merges multiple sensor informations, obtain the metric of entire Environment Obstacles object and robot distance, reduce the computing cost of robot environment-identification, and the cruising speed of robot is as integrated environment barrier and robot are apart from adaptive change, improve avoidance effect.
Description
Technical field
The present invention relates to intelligent robot and control technology field, specially a kind of moving machine based on enzyme numerical value membranous system
Device people's avoidance obstacle method.
Background technique
The Buiu of Natural computation team, Bucharest, ROU university proposes for membranous system to be used for robot control earliest
System, basic thought are to utilize (subregion computation capability and region internal information exchange) design movement the characteristics of membranous system
Robot cognition and behavior controller, this controller is known as film controller, and is able to carry out numerical value meter using numerical value membranous system
The characteristics of calculation, is applied to mobile robot behaviour control, realizes the avoid-obstacle behavior of robot, with wall behavior and follows
Behavior film controller.
There are cruising speed parameters to fix for the existing Mobile Robot Obstacle Avoidance control method based on enzyme numerical value membranous system, nothing
Method takes into account the case where Mobile Robot Obstacle Avoidance effect and forward speed, for this purpose, it is proposed that a kind of based on enzyme numerical value membranous system
Mobile Robot Obstacle Avoidance control method.
Summary of the invention
The purpose of the present invention is to provide a kind of Mobile Robot Obstacle Avoidance control methods based on enzyme numerical value membranous system, solve
There are cruising speed ginsengs for Mobile Robot Obstacle Avoidance control method mentioned above in the background art based on enzyme numerical value membranous system
The problem of the case where number is fixed, and cannot be considered in terms of Mobile Robot Obstacle Avoidance effect and forward speed.
To achieve the above object, the invention provides the following technical scheme: a kind of mobile machine based on enzyme numerical value membranous system
People's avoidance obstacle method, acquisition and processing and design avoid-obstacle behavior enzyme numerical value film control system including local environmental information.
Optionally, the specific steps of acquisition and the processing of the local environmental information:
1) local environmental information is obtained, as input
Utilize the n range sensor acquired disturbance object on the mobile robot whole body and the distance value x i of respective sensor；
2) linear transformation is carried out to xi
Linear transformation is carried out to xi by following formula, wherein si is the sensor values after linear transformation, and M is sensor
Maximum detecting distance.
si=-xi+M
Optionally, the specific steps of the design avoid-obstacle behavior enzyme numerical value film control system:
Following function is realized by enzyme numerical value membranous system, to realize that avoidance speed calculates.
1) sensor si is multiplied and adds up with weight
Weight variable weightLefti, weightRighti and wi are established for each sensor values si.By sensor values with
Weight is multiplied and adds up, and is as a result stored in variable SWL, SWR, SW respectively.I.e.SW=∑ si*wi；
2) cruising speed CruiseSpeed is calculated
Cruising speed is calculated using following formula.Wherein, C0 is setting speed, when clear, C0=CruiseSpeed；A is
The truth of a matter (0 < a < 1), a value is smaller, and CruiseSpeed fall is bigger；
CruiseSpeed=C0*aSW
3) left and right wheel speed leftSpeed, rightSpeed is calculated, as output
Left and right wheel speed is calculated using following formula, calculated left and right wheel speed is used for mobile robot two-wheel as output
Control,
LeftSpeed=CruiseSpeed+SWL
RightSpeed=CruiseSpeed+SWR
4) acquisition local environmental information is jumped to, as input, until robot completes motor task.
The present invention provides a kind of Mobile Robot Obstacle Avoidance control method based on enzyme numerical value membranous system, the beneficial effect having
Fruit: by obtaining local environmental information, and the n range sensor acquired disturbance object on the mobile robot whole body and corresponding biography are utilized
The distance value x i of sensor, and linear transformation is carried out to xi, obtained sensor si is multiplied and is added up with weight, calculates cruising speed
And left and right wheel speed is calculated, so that the control method merges multiple sensor informations, obtain entire Environment Obstacles object and robot
The metric of distance reduces the computing cost of robot environment-identification, hinders convenient for the cruising speed of robot with integrated environment
Hinder object and robot apart from adaptive change, improves avoidance effect, meanwhile, the control method is parallel by enzyme numerical value membranous system
Property, convenient for the avoidance left and right wheels speed computational efficiency of the quickening robot.
Detailed description of the invention
Fig. 1 is a kind of Pioneer3-DX of the Mobile Robot Obstacle Avoidance control method based on enzyme numerical value membranous system of the present invention
Sonar distribution schematic diagram；
Fig. 2 is a kind of emulation experiment environment of the Mobile Robot Obstacle Avoidance control method based on enzyme numerical value membranous system of the present invention
Schematic diagram；
Fig. 3 is a kind of avoidance obstacle thinking of the Mobile Robot Obstacle Avoidance control method based on enzyme numerical value membranous system of the present invention
Schematic diagram；
Fig. 4 is a kind of avoid-obstacle behavior enzyme number of the Mobile Robot Obstacle Avoidance control method based on enzyme numerical value membranous system of the present invention
It is worth membranous system schematic diagram；
Fig. 5 is a kind of Mobile Robot Obstacle Avoidance control method based on enzyme numerical value membranous system of the present invention based on enzyme numerical value film
The fixation cruising speed avoidance obstacle method emulation experiment schematic diagram of system；
Fig. 6 is a kind of emulation experiment signal of Mobile Robot Obstacle Avoidance control method based on enzyme numerical value membranous system of the present invention
Figure.
Specific embodiment
Film calculates the Ge Xin branch that (or membranous system) is Natural computation, earliest by Romanian academy of sciences academician, Europe
Academy of sciences academician, international mathematics chemical science institute academician Gheorghe P ǎ un proposed that complete paper was sent out in 2000 in 1998
Table.Film has calculated since proposition, receives the concern of numerous scholars.Due to membranous system have the same computing capability of Turing machine with
And membranous system has the characteristics that concurrency, distributivity, helps to improve controller meter using membrane system design robot controller
Calculate efficiency.
Please refer to Fig. 1-6, the present invention provides a kind of technical solution: a kind of mobile robot based on enzyme numerical value membranous system is kept away
Hinder control method, acquisition and processing and design avoid-obstacle behavior enzyme numerical value film control system including local environmental information.
Further, the specific steps of acquisition and the processing of local environmental information:
1) local environmental information is obtained, as input
Utilize the n range sensor acquired disturbance object on the mobile robot whole body and the distance value x i of respective sensor；
2) linear transformation is carried out to xi
Linear transformation is carried out to xi by following formula, wherein si is the sensor values after linear transformation, and M is sensor
Maximum detecting distance.
si=-xi+M
Further, the specific steps of avoid-obstacle behavior enzyme numerical value film control system are designed:
Following function is realized by enzyme numerical value membranous system, to realize that avoidance speed calculates.
1) sensor si is multiplied and adds up with weight
Weight variable weightLefti, weightRighti and wi are established for each sensor values si.By sensor values with
Weight is multiplied and adds up, and is as a result stored in variable SWL, SWR, SW respectively.I.e.SW=∑ si*wi；
2) cruising speed CruiseSpeed is calculated
Cruising speed is calculated using following formula.Wherein, C0 is setting speed, when clear, C0=CruiseSpeed；A is
The truth of a matter (0 < a < 1), a value is smaller, and CruiseSpeed fall is bigger；
CruiseSpeed=C0*aSW
3) left and right wheel speed leftSpeed, rightSpeed is calculated, as output
Left and right wheel speed is calculated using following formula, calculated left and right wheel speed is used for mobile robot two-wheel as output
Control,
LeftSpeed=CruiseSpeed+SWL
RightSpeed=CruiseSpeed+SWR
4) acquisition local environmental information is jumped to, as input, until robot completes motor task.
Embodiment 1
Referring to attached drawing 3, the present invention takes following steps:
One, the acquisition and processing of local environmental information
Step 1. obtains local environmental information, as input
Utilize 16 sonar sensor acquired disturbance objects on the mobile robot whole body and the distance value x i of respective sensor.
Step 2. carries out linear transformation to xi
Linear transformation is carried out to xi by following formula, wherein si is the sensor values after linear transformation, and M is sensor
Maximum detecting distance.Herein, M=1000mm
si=-xi+M
Two, avoid-obstacle behavior enzyme numerical value film control system is designed
Design avoid-obstacle behavior enzyme numerical value membranous system as shown in Figure 4.Membranous system realizes following function by 3 iterative calculation,
To realize that avoidance speed calculates.
Step 3. sensor si is multiplied and adds up with weight
It creates 16 film Sensori (i=1 ..., 16), a sensor si and weight is completed in each film Sensori
Product calculates, i.e. si*weightLefti、si*weightRighti、si*wi, such as rule 1,2,3 in film Sensori.16 films are complete
At the cumulative of 16 sensors and weight product, as a result it is stored in variable SWL, SWR, SW.The step is in membranous system first time
It is completed in iterative calculation.
Step 4. calculates cruising speed CruiseSpeed
The calculating that Calculate_CruiseSpeed film completes cruising speed is created, as shown in Figure 4.Film Calculate_
Rule 1 completes cruising speed calculating in CruiseSpeed, and rule 2,3 is saved for the first time by variable SWL_temp, SWR_temp
Result SWL, SWR of iterative calculation.
Step 5. calculates left and right wheel speed leftSpeed, rightSpeed, as output
The calculating that Calculate_Speed film completes avoidance or so wheel speed is created, as shown in Figure 4.Film Calculate_
Rule 1 completes revolver speed leftSpeed calculating in Speed, and rule 2 is completed right wheel speed rightSpeed and calculated.Calculate knot
Fruit exports to mobile robot, to control the two-wheel speed of robot, realizes that a wheel robot avoidance speed calculates.
Step 6. jumps to step 1, until robot completes motor task.
Embodiment 2
It can be seen that from the experimental result of Fig. 5,6 compared to fixed cruising speed avoidance obstacle method, avoidance control of the present invention
Method processed being capable of better avoiding obstacles.
Embodiment 3
The present invention is emulated in PC machine.Computer used in emulation experiment is association G470 2.3GHz, 6G
RAM, operating system Window7, emulation platform MobileSim, emulated robot Pioneer3-DX, robot size
52*40cm.Emulated robot is equipped with 16 sonar sensors, distribution such as Fig. 1.Simulated environment as shown in Fig. 2, include in environment
The channel 100cm, the channel 80cm, two barriers for being spaced 60cm etc..
In conclusion a kind of Mobile Robot Obstacle Avoidance control method based on enzyme numerical value membranous system, in use, logical first
Acquisition local environmental information is crossed, as input, then utilizes the n range sensor acquired disturbance object and phase on the mobile robot whole body
The distance value x i of inductive sensing device, and linear transformation is carried out to xi, then sensor is multiplied and is added up with weight, and to cruising speed
Calculating operation is carried out, then, calculates left and right wheel speed, as output, and by whether completing motor task judgement, if jump
Acquisition local environmental information is gone to, as circulate operation again is inputted, until robot completes motor task.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Anyone skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (3)
1. a kind of Mobile Robot Obstacle Avoidance control method based on enzyme numerical value membranous system, acquisition and place including local environmental information
Reason and design avoid-obstacle behavior enzyme numerical value film control system.
2. a kind of Mobile Robot Obstacle Avoidance control method based on enzyme numerical value membranous system according to claim 1, feature
It is: the specific steps of acquisition and the processing of the local environmental information:
1) local environmental information is obtained, as input
Utilize the n range sensor acquired disturbance object on the mobile robot whole body and the distance value x i of respective sensor；
2) linear transformation is carried out to xi
By following formula to xi carry out linear transformation, wherein si be linear transformation after sensor values, M be sensor most
Big detecting distance.
si=-xi+M。
3. a kind of Mobile Robot Obstacle Avoidance control method based on enzyme numerical value membranous system according to claim 1, feature
It is: the specific steps of the design avoid-obstacle behavior enzyme numerical value film control system:
Following function is realized by enzyme numerical value membranous system, to realize that avoidance speed calculates.
1) sensor si is multiplied and adds up with weight
Weight variable weightLefti, weightRighti and wi are established for each sensor values si.By sensor values and weight
It is multiplied and adds up, be as a result stored in variable SWL, SWR, SW respectively.I.e.SWR=∑
si*weightRighti, SW=∑ si*wi；
2) cruising speed CruiseSpeed is calculated
Cruising speed is calculated using following formula.Wherein, C0 is setting speed, when clear, C0=CruiseSpeed；A is the truth of a matter
(0 < a < 1), a value is smaller, and CruiseSpeed fall is bigger；
CruiseSpeed=C0*aSW
3) left and right wheel speed leftSpeed, rightSpeed is calculated, as output
Left and right wheel speed is calculated using following formula, calculated left and right wheel speed is controlled as output for mobile robot two-wheel,
LeftSpeed=CruiseSpeed+SWL
RightSpeed=CruiseSpeed+SWR
4) acquisition local environmental information is jumped to, as input, until robot completes motor task.
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