CN110262512B - Obstacle avoidance method and system for moving robot to separate from U-shaped obstacle trap - Google Patents

Obstacle avoidance method and system for moving robot to separate from U-shaped obstacle trap Download PDF

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CN110262512B
CN110262512B CN201910629400.1A CN201910629400A CN110262512B CN 110262512 B CN110262512 B CN 110262512B CN 201910629400 A CN201910629400 A CN 201910629400A CN 110262512 B CN110262512 B CN 110262512B
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wall
robot
following
following behavior
trap
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CN110262512A (en
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赵玉飞
董彦鹏
镡雄师
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Beijing Machinery Equipment Research Institute
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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
    • 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
    • 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 relates to an obstacle avoidance method and system for a mobile robot to break away from a U-shaped obstacle trap, belongs to the field of obstacle avoidance of mobile robots, and solves the problem of low obstacle avoidance success rate in the prior art. The method comprises the following steps: the robot sinks into a U-shaped barrier trap and starts wall-following behaviors; determining a mode of a primary wall-following behavior according to a corner between the current robot course and the target course; when the difference value between the current position of the robot and the starting position of the previous wall-following behavior is smaller than a preset value, the robot starts a wall-following behavior mode which is opposite to the previous wall-following behavior mode; the patterns of along-wall behavior include a left-wall behavior pattern and a right-wall behavior pattern; and (4) stopping the wall-following action until the robot is separated from the U-shaped barrier trap. The success rate of the mobile robot separating from the barrier trap of the U-shaped trap is improved.

Description

Obstacle avoidance method and system for moving robot to separate from U-shaped obstacle trap
Technical Field
The invention relates to the technical field of obstacle avoidance of mobile robots, in particular to an obstacle avoidance method and system for a mobile robot to break away from a U-shaped obstacle trap.
Background
When the mobile robot moves in a complex environment, walls and other obstacles are often in a U-shaped structural environment, and due to the limitation of the field of vision of the robot and the lack of priori knowledge, the robot is extremely easy to form a U-shaped obstacle trap. The U-shaped obstacle trap is generated under the dual action of a local obstacle and a target point, and can cause the robot to vibrate in motion or move back and forth along a closed route without reaching the target point.
The trap separated from the U-shaped obstacle is an important research content in the obstacle avoidance research of the mobile robot. There are many improved methods for this problem, and strategies such as random escape, global search, wall motion, etc. can be introduced to escape from the U-shaped barrier trap. The random escape strategy has high randomness and low reliability, and the global search depends on global prior knowledge. The motion along the wall is an effective processing mechanism for getting rid of the U-shaped obstacle environment on the premise of ensuring the limited path length along the wall. The action function of the robot moving along the wall is to give up the target guidance temporarily and only move along the contour line of the U-shaped obstacle trap until the trap is separated from the U-shaped obstacle trap. According to the traditional wall-following movement method, the robot escapes from the U-shaped obstacle trap through one-way movement along the edge of the obstacle, the method is simple and practical, and planning completeness can be guaranteed to a certain extent. However, the unidirectional wall-following movement is simple, only simple U-shaped obstacles can be responded, and the success rate of separating from local traps is low in the face of complicated and various U-shaped obstacles.
The prior art has the following defects: firstly, the random escape strategy has high randomness and low reliability, and global search depends on global priori knowledge; secondly, in the traditional wall-following movement method, the robot can only move along the edge of the obstacle in a single way, and the success rate of separating from local traps is low when the robot faces complicated and various U-shaped obstacles.
Disclosure of Invention
In view of the above analysis, the present invention aims to provide an obstacle avoidance method and system for a mobile robot to separate from a U-shaped obstacle trap, so as to solve the problem of low success rate of separating from the U-shaped obstacle trap in the existing obstacle avoidance technology.
On one hand, the invention provides an obstacle avoidance method for a mobile robot to separate from a U-shaped obstacle trap, which comprises the following specific steps: the robot sinks into a U-shaped barrier trap and starts wall-following behaviors; determining a mode of a primary wall-following behavior according to a corner between the current robot course and the target course; when the difference value between the current position of the robot and the starting position of the previous wall-following behavior is smaller than a preset value, the robot starts a wall-following behavior mode which is opposite to the previous wall-following behavior mode; the patterns of along-wall behavior include a left-wall behavior pattern and a right-wall behavior pattern; and (4) stopping the wall-following action until the robot is separated from the U-shaped barrier trap.
Further, the situation that the robot sinks into the U-shaped obstacle trap includes the phenomenon that the robot generates oscillating motion or the phenomenon that the robot generates winding motion;
when | | | Xr(t+ΔTl)-Xr(t)||＜ε1In time, the robot generates a vibration motion phenomenon;
when in use
Figure BDA0002128254020000021
In time, the robot has a winding motion phenomenon;
wherein, in XOY Cartesian coordinate system, Xr(t) is the two-dimensional position of the robot at time t, Xr(t+ΔTl) For the robot to pass by delta TlPosition coordinates after a time period, epsilon1In order to be a pre-set distance threshold,
Figure BDA0002128254020000022
as a corner clipping function, thetagIs a target position XgThe included angle between the X-axis and the X-axis,
Figure BDA0002128254020000023
is the included angle between the course of the robot and the X axis.
Further, a preset distance threshold epsilon1The specific expression of (A) is as follows:
ε1＝γuminΔTl
wherein γ ∈ [0,1 ]]，uminIs the minimum movement speed of the robot and is a robot system parameter.
Further, the specific expression of the corner clipping function is as follows:
Figure BDA0002128254020000031
further, according to the corner between the robot course and the target course, determining a wall-following behavior mode, wherein the specific method comprises the following steps:
limiting function when turning angle
Figure BDA0002128254020000032
Satisfy the requirement of
Figure BDA0002128254020000033
When the behavior mode along the left wall is started, the behavior mode along the left wall is marked as flagfw＝1；
When rotatingAngular limiting function
Figure BDA0002128254020000034
Satisfy the requirement of
Figure BDA0002128254020000035
When the behavior mode along the right wall is started, the behavior mode flag along the right wall is flagfw＝-1。
Further, recording the starting point position X of each wall-following behavior of the robotsFlag for wall-following behavior modefwAnd a motion track along a wall;
when | | | Xr(t)-Xs||＜ε2When it is turned over with XsCorresponding along-the-wall behavior flagfwAccording to the reversed wall-following behavior mode flagfwDetermining a wall-following behavior pattern; otherwise, keeping the current wall-following behavior mode;
wherein the preset value epsilon2The value range of (A) is 1 m-3 m.
Further, the motion state of the robot simultaneously meets the following conditions, the robot is determined to be separated from the U-shaped barrier trap, and the wall-following behavior mode is exited:
①
Figure BDA0002128254020000036
secondly, the line segment connecting the current position of the robot and the target point is not intersected with the wall-following motion track;
③TickCount≥Tstop；
where TickCount is the watch clock, TstopIs a preset number of cycles.
Further, the TickCount monitoring clock is a protection mechanism of the wall-following behavior mode, the TickCount monitoring clock is started at the same time of starting the wall-following behavior mode, the TickCount accumulates the number of cycles according to the decision cycle time, and when the TickCount exceeds the preset number of cycles TstopAnd the protection is invalid.
According to the technical scheme, the invention has the following beneficial effects:
1. a wall-following behavior mode inversion mechanism is introduced to assist in obstacle avoidance decision, so that the success rate of the mobile robot separating from the U-shaped obstacle local trap is improved;
2. judging whether the wall-following behavior mode is reversed or not by recording the starting point position of each wall-following behavior of the robot, the wall-following behavior mode mark and the wall-following motion track;
3. a wall-following behavior time protection mechanism is introduced, so that motion shock caused by frequent switching among different wall-following behavior modes is avoided, and the safety of the robot and the success rate of breaking away from local traps are improved.
On the other hand, the invention also provides an obstacle avoidance system for the mobile robot to break away from the U-shaped obstacle trap, which comprises a wall-following behavior starting module, a wall-following behavior mode determining module and a wall-following behavior quitting module; the wall behavior starting module is used for starting the wall behavior when the robot sinks into the U-shaped barrier trap; the wall following behavior mode determining module is used for determining a mode of the initial wall following behavior according to the rotation angle between the robot course and the target course; when the difference value between the current position of the robot and the starting position of the previous wall-following behavior is smaller than a preset value, the robot starts a wall-following behavior mode which is opposite to the previous wall-following behavior mode; the patterns of along-wall behavior include a left-wall behavior pattern and a right-wall behavior pattern; and the wall-following behavior exit module is used for exiting the wall-following behavior when the robot breaks away from the U-shaped barrier trap.
Further, the wall-following behavior exiting module determines that the robot is separated from the U-shaped obstacle trap and exits the wall-following behavior mode when the robot motion state simultaneously satisfies the following conditions:
①
Figure BDA0002128254020000041
secondly, the line segment connecting the current position of the robot and the target point is not intersected with the wall-following motion track;
③TickCount≥Tstop；
wherein, in XOY Cartesian coordinate system, thetagIs a target position XgThe included angle between the X-axis and the X-axis,
Figure BDA0002128254020000051
is the included angle between the course of the robot and the X axis,
Figure BDA0002128254020000052
is a corner clipping function; TiCkcCount being the monitoring clock, TstopIs a preset number of cycles.
The obstacle avoidance system for the mobile robot to separate from the U-shaped obstacle trap has the same principle as the method for the mobile robot to separate from the U-shaped obstacle trap, so the system also has the technical effect corresponding to the method.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and drawings.
Drawings
The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention.
FIG. 1 is a flow chart of an obstacle avoidance method for a mobile robot to disengage from a U-shaped obstacle trap;
FIG. 2 is a schematic view of a behavior pattern along a left wall;
fig. 3 is a schematic diagram of a behavior pattern along the right wall.
Detailed Description
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate preferred embodiments of the invention and together with the description, serve to explain the principles of the invention and not to limit the scope of the invention.
The method comprises the following steps:
the invention discloses an obstacle avoidance method for a mobile robot to separate from a U-shaped obstacle trap, as shown in fig. 1, comprising the following steps: the robot sinks into a U-shaped barrier trap and starts wall-following behaviors; determining a mode of a primary wall-following behavior according to a corner between the current robot course and the target course; when the difference value between the current position of the robot and the starting position of the previous wall-following behavior is smaller than a preset value, the robot starts a wall-following behavior mode which is opposite to the previous wall-following behavior mode; the patterns of along-wall behavior include a left-wall behavior pattern and a right-wall behavior pattern; and (4) stopping the wall-following action until the robot is separated from the U-shaped barrier trap.
In order to deal with the complex U-shaped barrier trap and improve the reliability of the behavior along the wall, a motion trail and motion direction memory mechanism is adopted. In order to prevent the mobile robot from doing repeated motion along a closed curve, the two wall following modes are reversed in the motion process, and attempts are made in different wall following modes. When the wall-following behavior is finished once, the robot returns to the position near the starting point of the previous wall-following behavior again under the guidance of the target, if the judgment is carried out according to the relation between the heading of the robot and the target heading, the same wall-following mode as the previous one is adopted, and repeated wall-following motion can be generated. To prevent this, according to the starting position of each wall-following movement recorded by the robot and the wall-following mark, once the robot moves to the vicinity of the starting position of the previous wall-following behavior again and moves along the wall, a wall-following behavior mode opposite to the previous wall-following behavior is started to improve the success rate of separating from the U-shaped obstacle trap.
Specifically, the trapping of the robot into the U-shaped obstacle trap includes the phenomenon that the robot vibrates or the phenomenon that the robot circles;
when | | | Xr(t+ΔTl)-Xr(t)||＜ε1In time, the robot generates a vibration motion phenomenon;
when in use
Figure BDA0002128254020000061
In time, the robot has a winding motion phenomenon;
wherein, in XOY Cartesian coordinate system, Xr(t) is the two-dimensional position of the robot at time t, Xr(t+ΔTl) For the robot to pass by delta TlPosition coordinates after a time period, epsilon1In order to be a pre-set distance threshold,
Figure BDA0002128254020000062
as a corner clipping function, thetagIs a target position XgThe included angle between the X-axis and the X-axis,
Figure BDA0002128254020000063
is the included angle between the course of the robot and the X axis.
Preferably, the preset distance threshold ε1The specific expression of (a) may be:
ε1＝γuminΔTl
wherein γ ∈ [0,1 ]]，uminThe minimum movement speed of the robot is a robot system parameter; delta TlThe moving distance of the mobile robot is very small in a time interval, namely, in a certain time interval, the phenomenon that the robot vibrates and falls into a U-shaped barrier trap is indicated, and at the moment, the wall-following behavior needs to be started.
Considering that the rotation angle is ensured to be in the range of (-180 °, 180 °), the specific expression of the rotation angle clipping function is:
Figure BDA0002128254020000071
in implementation, after entering the wall-following behavior, the mode of the initial wall-following behavior needs to be determined.
Preferably, the primary wall-following behavior mode is determined according to the rotation angle between the robot heading and the target heading.
In the case shown in fig. 2, the clipping function is applied when the corner is rotated
Figure BDA0002128254020000072
Satisfy the requirement of
Figure BDA0002128254020000073
When the course of the mobile robot deviates from the target point, the behavior mode along the left wall needs to be started on the right side of the target point, and the behavior mode along the left wall is marked as flagfw＝1；
In the case shown in fig. 3, the clipping function is applied when the corner is rotated
Figure BDA0002128254020000074
Satisfy the requirement of
Figure BDA0002128254020000075
When the course of the mobile robot deviates from the target point, the behavior mode along the right wall needs to be started on the left side of the target point, and the behavior mode along the wall is marked as flagfw＝-1。
In order to determine whether the next wall-following behavior needs to be reversed, the data of any previous wall-following behavior needs to be called, and for the convenience of calling and judging, the starting point position X of each wall-following behavior of the robot can be recordedsFlag for wall-following behavior modefwAnd a path of motion along the wall.
Specifically, whether inversion is needed or not can be realized by the following judgment conditions:
when | | | Xr(t)-Xs||＜ε2Time, i.e. the current position of the robot and the starting point position X of the previous wall-following behaviorsVery close to each other, set inverse to XsCorresponding along-the-wall behavior flagfwAccording to the reversed wall-following behavior mode flagfwDetermining a wall-following behavior pattern; otherwise, keeping the current wall-following behavior mode;
wherein the preset value epsilon2The value range of (A) is 1 m-3 m.
In order to ensure the reliability, safety and success rate of the mobile robot separating from the U-shaped trap obstacle, the motion state of the robot simultaneously meets the following conditions, the robot is determined to separate from the U-shaped trap obstacle, and the robot exits from the wall-following behavior mode:
①
Figure BDA0002128254020000081
secondly, the line segment connecting the current position of the robot and the target point is not intersected with the wall-following motion track;
③TickCount≥Tstop；
where TickCount is the watch clock, TstopIs a preset number of cycles.
Specifically, the TickCount monitoring clock is a protection mechanism of the wall-following behavior mode, the TickCount monitoring clock is started at the same time of starting the wall-following behavior mode, the TickCount accumulates the number of cycles according to the decision cycle time, and when the TickCount exceeds the preset number of cycles TstopAnd the protection is invalid.
For a general U-shaped obstacle trap, an absolute value of the corner clipping function less than 90 ° indicates that the U-shaped obstacle has been bypassed. In the face of a more complex U-shaped obstacle trap, in order to prevent the repeated occurrence of the wall-following behavior, a situation is designed, if a line segment connecting the current position of the robot and a target point is intersected with the wall-following motion track, the robot cannot exit the wall-following behavior, the original wall-following behavior mode can be continued until the robot breaks away from the U-shaped obstacle trap, and the reliability of the wall-following behavior escaping from the trap is improved by introducing the memory information of the track. A time protection mechanism of the action along the wall is introduced to improve the safety of the robot and the success rate of breaking away from the local trap, so that the action time of the action along the wall can be prolonged; and the introduction of the TickCount can prevent the movement shock caused by frequent switching among different behavior modes, and the TickCount is cleared after the wall-following behavior mode exits.
Compared with the prior art, the obstacle avoidance method for the mobile robot to separate from the U-shaped obstacle trap provided by the embodiment has the advantages that firstly, a wall-following behavior mode inversion mechanism is introduced to assist in obstacle avoidance decision, so that the success rate of the mobile robot to separate from the U-shaped obstacle local trap is improved; secondly, judging whether the wall-following behavior mode is reversed or not by recording the starting point position of each wall-following behavior of the robot, the wall-following behavior mode mark and the wall-following motion track; finally, a wall-following behavior time protection mechanism is introduced, so that motion shock caused by frequent switching among different wall-following behavior modes is avoided, and the safety of the robot and the success rate of breaking away from local traps are improved.
The embodiment of the system is as follows:
the invention also provides an obstacle avoidance system for the mobile robot to break away from the U-shaped obstacle trap, which comprises a wall-following behavior starting module, a wall-following behavior mode determining module and a wall-following behavior exiting module; the wall behavior starting module is used for starting the wall behavior when the robot sinks into the U-shaped barrier trap; the wall following behavior mode determining module is used for determining a mode of the initial wall following behavior according to the rotation angle between the robot course and the target course; when the difference value between the current position of the robot and the starting position of the previous wall-following behavior is smaller than a preset value, the robot starts a wall-following behavior mode which is opposite to the previous wall-following behavior mode; the patterns of along-wall behavior include a left-wall behavior pattern and a right-wall behavior pattern; and the wall-following behavior exit module is used for exiting the wall-following behavior when the robot breaks away from the U-shaped barrier trap.
Specifically, the wall-following behavior exiting module determines that the robot is separated from the U-shaped obstacle trap and exits the wall-following behavior mode when the robot motion state satisfies the following conditions:
①
Figure BDA0002128254020000091
secondly, the line segment connecting the current position of the robot and the target point is not intersected with the wall-following motion track;
③TickCount≥Tstop；
wherein, in XOY Cartesian coordinate system, thetagIs a target position XgThe included angle between the X-axis and the X-axis,
Figure BDA0002128254020000101
is the included angle between the course of the robot and the X axis,
Figure BDA0002128254020000102
is a corner clipping function; TiCkcCount being the monitoring clock, TstopIs a preset number of cycles.
For a general U-shaped obstacle trap, an absolute value of the corner clipping function less than 90 ° indicates that the U-shaped obstacle has been bypassed. In the face of a more complex U-shaped obstacle trap, in order to prevent the repeated occurrence of the wall-following behavior, a situation is designed, if a line segment connecting the current position of the robot and a target point is intersected with the wall-following motion track, the robot cannot exit the wall-following behavior, the original wall-following behavior mode can be continued until the robot breaks away from the U-shaped obstacle trap, and the track is introducedAnd information is memorized, so that the reliability of the wall-following behavior escaping trap is improved. A time protection mechanism of the action along the wall is introduced to improve the safety of the robot and the success rate of breaking away from the local trap, so that the action time of the action along the wall can be prolonged; starting a TickCount monitoring clock at the same time of starting the wall-following behavior mode, accumulating the number of cycles by the TickCount according to the decision cycle time, and when the TickCount exceeds the preset number of cycles TstopThe protection is invalid; and the introduction of the TickCount can prevent the movement shock caused by frequent switching among different behavior modes, and the TickCount is cleared after the wall-following behavior mode exits.
Compared with the prior art, the obstacle avoidance system for the mobile robot to separate from the U-shaped obstacle trap provided by the embodiment has the advantages that firstly, a wall-following behavior mode inversion mechanism is introduced to assist in obstacle avoidance decision, so that the success rate of the mobile robot to separate from the U-shaped obstacle local trap is improved; secondly, judging whether the wall-following behavior mode is reversed or not by recording the starting point position of each wall-following behavior of the robot, the wall-following behavior mode mark and the wall-following motion track; finally, a wall-following behavior time protection mechanism is introduced, so that motion shock caused by frequent switching among different wall-following behavior modes is avoided, and the safety of the robot and the success rate of breaking away from local traps are improved.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.

Claims (7)

1. An obstacle avoidance method for a mobile robot to separate from a U-shaped obstacle trap is characterized by comprising the following steps:
the robot sinks into a U-shaped barrier trap and starts wall-following behaviors;
determining a mode of a primary wall-following behavior according to a corner between the current robot course and the target course;
when the difference value between the current position of the robot and the starting position of the previous wall-following behavior is smaller than a preset value, the robot starts a wall-following behavior mode which is opposite to the previous wall-following behavior; the modes of wall-following behavior include a left wall-following behavior mode and a right wall-following behavior mode;
until the robot breaks away from the U-shaped barrier trap, the robot quits the action along the wall; wherein the content of the first and second substances,
and the motion state of the robot simultaneously meets the following conditions, the robot is determined to be separated from the U-shaped barrier trap, and the wall-following behavior mode exits:
①
Figure FDA0003436114340000011
secondly, the line segment connecting the current position of the robot and the target point is not intersected with the wall-following motion track;
③TickCount≥Tstop；
wherein the content of the first and second substances,
Figure FDA0003436114340000012
the specific expression of the corner clipping function is as follows:
Figure FDA0003436114340000013
θgis a target position XgThe included angle between the X-axis and the X-axis,
Figure FDA0003436114340000014
the included angle between the course of the robot and the X axis is set;
TickCount is a watch clock, TstopIs a preset number of cycles.
2. An obstacle avoidance method for a mobile robot to get away from a U-shaped obstacle trap according to claim 1, wherein the trapping of the robot into the U-shaped obstacle trap includes a phenomenon that the robot generates a vibration motion or a phenomenon that the robot generates a circle motion;
when | | | Xr(t+ΔTl)-Xr(t)||＜ε1In time, the robot shakesA phenomenon of swinging motion;
when in use
Figure FDA0003436114340000015
In time, the robot has a winding motion phenomenon;
wherein, in XOY Cartesian coordinate system, Xr(t) is the two-dimensional position of the robot at time t, Xr(t+ΔTl) For the robot to pass by delta TlPosition coordinates after a time period, said ∈1Is a preset distance threshold.
3. The obstacle avoidance method for separating a mobile robot from a U-shaped obstacle trap as claimed in claim 2, wherein the preset distance threshold epsilon1The specific expression of (A) is as follows:
ε1＝γuminΔTl
wherein γ ∈ [0,1 ]]，uminIs the minimum movement speed of the robot and is a robot system parameter.
4. The obstacle avoidance method for the mobile robot to separate from the U-shaped obstacle trap as claimed in claim 1, wherein the wall-following behavior mode is determined according to the rotation angle between the robot course and the target course, and the specific method is as follows:
when the corner clipping function
Figure FDA0003436114340000021
Satisfy the requirement of
Figure FDA0003436114340000022
When the behavior mode along the left wall is started, the behavior mode along the left wall is marked as flagfw＝1；
When the corner clipping function
Figure FDA0003436114340000023
Satisfy the requirement of
Figure FDA0003436114340000024
When the behavior mode along the right wall is started, the behavior mode flag along the right wall is flagfw＝-1。
5. An obstacle avoidance method for a mobile robot to disengage from a U-shaped obstacle trap according to claim 1, further comprising recording the starting point position X of each wall-following behavior of the robotsFlag for wall-following behavior modefwAnd a motion track along a wall;
when | | | Xr(t)-Xs||＜ε2While inverting with said XsCorresponding along-the-wall behavior flagfwAccording to the reversed wall-following behavior mode flagfwDetermining a wall-following behavior pattern; otherwise, keeping the current wall-following behavior mode;
wherein the preset value epsilon2The value range of (A) is 1 m-3 m.
6. The obstacle avoidance method for the mobile robot to separate from the U-shaped obstacle trap according to claim 1, wherein the TickCount monitoring clock is a protection mechanism of a wall-following behavior mode, the TickCount monitoring clock is started at the same time of starting the wall-following behavior mode, the number of cycles of the TickCount is accumulated according to decision cycle time, and when the TickCount exceeds a preset number of cycles TstopAnd the protection is invalid.
7. An obstacle avoidance system for a mobile robot to break away from a U-shaped obstacle trap, comprising:
the wall-following behavior starting module is used for starting the wall-following behavior when the robot sinks into the U-shaped obstacle trap;
the wall following behavior mode determining module is used for determining a mode of the initial wall following behavior according to the rotation angle between the robot course and the target course; when the difference value between the current position of the robot and the starting position of the previous wall-following behavior is smaller than a preset value, the robot starts a wall-following behavior mode which is opposite to the previous wall-following behavior mode; the modes of wall-following behavior include a left wall-following behavior mode and a right wall-following behavior mode;
the wall-following behavior quitting module is used for quitting the wall-following behavior when the robot breaks away from the U-shaped barrier trap; wherein the content of the first and second substances,
the wall-following behavior exit module determines that the robot is separated from the U-shaped obstacle trap and exits the wall-following behavior mode when the robot motion state simultaneously meets the following conditions:
①
Figure FDA0003436114340000031
secondly, the line segment connecting the current position of the robot and the target point is not intersected with the wall-following motion track;
③TickCount≥Tstop；
wherein, in XOY Cartesian coordinate system, thetagIs a target position XgThe included angle between the X-axis and the X-axis,
Figure FDA0003436114340000032
is the included angle between the course of the robot and the X axis,
Figure FDA0003436114340000033
the specific expression of the corner clipping function is as follows:
Figure FDA0003436114340000034
TiCkcCount being the monitoring clock, TstopIs a preset number of cycles.
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