CN110442139B - Mobile robot hybrid obstacle avoidance control method based on switching signals - Google Patents
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Abstract
The invention relates to a mobile robot hybrid obstacle avoidance control method based on switching signals, and belongs to the technical field of robots. The method comprises the following steps: s1, respectively defining the barrier-free area and the barrier area as an attraction vector and a repulsion vector within the perception range of the robot; s2, establishing a switching signal 1 on the switching surface, so that the robot effectively avoids obstacles and reduces obstacle avoidance time; a switching signal 2 is established on the basis of the switching signal 1, and the purpose of the switching signal is to reduce the shaking of the robot and prevent the control system from switching for an unlimited time; s3, setting different control behaviors to enable the robot not to check obstacles in advance or consider local minimum vibration; and S4, under the control of the switching signal, forming a hybrid obstacle avoidance control method to ensure that the robot correctly avoids obstacles and avoids self-shaking.
Description
Technical Field
The invention belongs to the technical field of robots, and relates to a mobile robot hybrid obstacle avoidance control method based on switching signals.
Background
The robot navigation has three elements: "who did my? Where do i am? What is i going to? The perception of the robot to the external environment mainly depends on a sensor of the robot, and a target point in an unknown environment is not in the detection range of the robot sensor, so that an intelligent navigation system is needed to assist the robot to move. By using the bionic behavior for reference, the robot can be imagined to have the same bionic motion or not, and the navigation and obstacle avoidance can be carried out in real time in an unknown environment.
Given a target point for the known target behavior, the robot will calculate the distance and angle between the current location and the target point and direct the robot to move. Various obstacles such as concave-convex objects are often encountered during the walking process of the robot. In completely unknown environments, how to quickly and efficiently avoid obstacles is a necessary behavior of a robot, and an effective method for avoiding the obstacles is very important, and previous methods for solving the problem comprise an artificial potential field method, a route map method and the like. The APF is limited by a local minimum and, in addition, if the robot approaches an obstacle or moves in a narrow passage, flutter or oscillation occurs, and in order to correct the oscillation, the sampling rate of the controller must be small, so that the robot must move at a low speed, which may reduce the working efficiency of the robot. Roadmapping requires prior knowledge of the navigation environment and requires significant computational time and hardware resources. The problem of robot obstacle avoidance is usually formalized in euclidean space, but the configuration space of the robot is a special euclidean space. In addition, at present, an incomplete robot system is used, and therefore, in order to solve the obstacle avoidance problem, the problems of speed constraint, heading angle and the like of the robot must be considered.
Disclosure of Invention
In view of the above, the present invention provides a hybrid obstacle avoidance control method for a mobile robot based on a switch signal, which can solve the problems of self-shaking and low efficiency of the robot in the obstacle avoidance process.
In order to achieve the purpose, the invention provides the following technical scheme:
a mobile robot mixed obstacle avoidance control method based on switching signals comprises the following steps:
s1: constructing a robot model under an incomplete system, and respectively defining a barrier-free area and a barrier area as an attraction vector and a repulsion vector in a robot perception range;
s2: a switching signal 1 is established on a switching surface, so that the robot effectively avoids obstacles and reduces obstacle avoidance time; establishing a switching signal 2 on the basis of the switching signal 1, wherein the switching signal 2 is used for reducing the shaking of the robot and preventing the control system from switching for an unlimited time;
s3: by setting different control behaviors, the robot does not need to check obstacles in advance or consider local minimum vibration;
s4: under the control of a switching signal, a hybrid obstacle avoidance control method is formed to ensure that the robot can avoid obstacles correctly and avoid self-shaking.
Optionally, in step S1, a robot model is constructed under an incomplete system, and a robot motion equation is expressed as:
wherein θ represents a specific direction under a global coordinate, v and w represent a linear velocity and an angular velocity of the robot, respectively, and for representing a hybrid obstacle avoidance control law, a set of continuous and smooth saturation functions σ (x) is defined and satisfies the following properties:
where the saturation function σ (x) ═ tanh (x).
Optionally, in the step S2 and the step S3, a switching signal 1 is established on the switching surface, a switching signal 2 is established on the basis of the switching signal 1, and different control behaviors are set, specifically, the steps are as follows:
first, a suction function is set
The corresponding attraction vectors are:
wherein xrg＝xg-x，yrg＝yg-y；
The exclusion function is defined as
The corresponding exclusion vector is:
Φro＝p-pr＝[xro,yro]T
wherein xro＝x-xoAnd yro＝x-yoRepresenting a repulsion vector pointing from the obstacle to the robot, the direction of the repulsion vector being from the obstacle to the robot;
projecting the attraction vector into a repulsion vector space to obtain a robot velocity vector, and then expressing the attraction vector or the avoidance vector by using a uniform velocity vector delta p, wherein the expression is as follows:
wherein ζri1,0, and i belongs to {1,2} to represent the opening or closing of a switching signal between the obstacle avoidance states; define switching signal ζr1：
Wherein
Is the minimum distance between the robot and the obstacle; the proposed change-over signal increases the difference theta in azimuth between the robot and the target pointroWhen thetaroWhen | ≧ π/2, ζr10 represents that the distance to the obstacle is within the detection range of the robot;
the switching signal 2 is denoted as ζr2And divided into successive segment switching signals:
the robot effectively avoids obstacles under the action of the switching signal 1, and obstacle avoidance time is reduced; however, in the process of obstacle avoidance, a shaking state occurs, namely, the robot is switched between an obstacle avoidance area and a safe area, so that the robustness of the robot is reduced; the switching signal 2 is added to be a feedforward switching signal of KM1, so that the jitter is reduced, the robustness of the system is improved, and the control system is prevented from automatically switching for infinite times.
Optionally, in step S4, the establishment of the mixing control rule:
when the robot moves, the system is switched back and forth between obstacle avoidance and obstacle avoidance, and the system is considered as a mixed switching behavior; the switching behavior of the robot between the switching signal 1 and the switching signal 2 is as follows:
when the robot detects an obstacle, controlling the robot to turn and speed by using an avoidance vector, wherein the magnitude of a turning angle is determined by calculating an inner product between an attraction vector and an avoidance vector generated by two rotations, and a rotation vector having a larger inner product is selected as a rotation angle; the robot obtains the repulsion vector under the static obstacle environment
And
respectively as follows:
for dynamic obstacle rejection vectors
And
respectively as follows:
the robot receives data from the sensor and analyzes the data to obtain coordinates of obstacles in the surrounding environment, wherein the rotation matrix is transformed by the robot coordinates to control the rotation angle of the robot, and the formula is as follows:
by analyzing peripheral data acquired from the sensors, angle vectors between the sensors and the obstacle and the target are calculated, the driving direction of the robot and the target point vector are always positive, namely the avoidance vector always determines the navigation direction of the robot, and the equation is as follows:
the pre-processing behavior set in the robot navigation library is used for avoiding obstacles, the KM1 is used for avoiding obstacles, shaking of the system is avoided through the KM2, the robot is controlled to move stably, the robot is enabled to move to a target point, and the obstacles are avoided in real time.
The invention has the beneficial effects that: first, an unobstructed area and an obstructed area are respectively defined as an attraction vector and a repulsion vector within a robot perception range. Then, a switching signal 1 is established on the switching surface, so that the robot effectively avoids obstacles and reduces obstacle avoidance time; the switching signal 2 is established on the basis of the switching signal 1 with the aim of reducing robot jitter and preventing the control system from switching an unlimited number of times. Finally, by setting different control behaviors, the robot does not need to check the obstacle in advance or consider local minimum value vibration, and a hybrid obstacle avoidance control method is formed under the control of a switching signal to ensure that the robot can avoid the obstacle correctly and avoid self vibration. Experiments prove that the algorithm provided by the invention can search the optimal path under multiple static obstacles, effectively avoid the obstacles, ensure a smooth navigation path and keep the stability of the system.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention. The objectives and other advantages of the invention may be realized and attained by the means of the instrumentalities and combinations particularly pointed out hereinafter.
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For the purposes of promoting a better understanding of the objects, aspects and advantages of the invention, reference will now be made to the following detailed description taken in conjunction with the accompanying drawings in which:
fig. 1 is a flow chart of a mobile robot hybrid obstacle avoidance control method based on a switching signal.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention in a schematic way, and the features in the following embodiments and examples may be combined with each other without conflict.
Wherein the showings are for the purpose of illustrating the invention only and not for the purpose of limiting the same, and in which there is shown by way of illustration only and not in the drawings in which there is no intention to limit the invention thereto; to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if there is an orientation or positional relationship indicated by terms such as "upper", "lower", "left", "right", "front", "rear", etc., based on the orientation or positional relationship shown in the drawings, it is only for convenience of description and simplification of description, but it is not an indication or suggestion that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes, and are not to be construed as limiting the present invention, and the specific meaning of the terms may be understood by those skilled in the art according to specific situations.
As shown in fig. 1, the invention provides a mobile robot hybrid obstacle avoidance control method based on a switching signal, which includes the following steps:
s1, constructing a robot model under an incomplete system, and respectively defining a barrier-free area and a barrier area as an attraction vector and a repulsion vector in a robot perception range;
s2, establishing a switching signal 1 on the switching surface, so that the robot effectively avoids obstacles and reduces obstacle avoidance time; a switching signal 2 is established on the basis of the switching signal 1, and the purpose of the switching signal is to reduce the shaking of the robot and prevent the control system from switching for an unlimited time;
s3, setting different control behaviors to enable the robot not to check obstacles in advance or consider local minimum vibration;
and S4, forming a hybrid obstacle avoidance control method under the control of the switching signal to ensure that the robot correctly avoids obstacles and avoids self-shaking.
The step S1 is to construct a robot model under the incomplete system, where the robot motion equation can be expressed as:
wherein θ represents a specific direction under a global coordinate, v and w represent a linear velocity and an angular velocity of the robot, respectively, to represent the hybrid obstacle avoidance control law proposed herein, a set of continuous and smooth saturation functions σ (x) is defined, and the following properties are satisfied:
where the saturation function σ (x) ═ tanh (x).
The steps S2 and S3 are used for establishing a switching signal 1 on a switching surface and establishing a switching signal 2 on the basis of the switching signal 1 to set different control behaviors, and specifically comprise the steps;
first, a suction function is set
The corresponding attraction vectors are:
wherein xrg＝xg-x，yrg＝yg-y。
The exclusion function is defined as
The corresponding exclusion vector is:
Φro＝p-pr＝[xro,yro]T
wherein xro＝x-xoAnd yro＝x-yoIndicating the repulsion vector directed from the obstacle to the robot, the direction of the repulsion vector being directed from the obstacle to the robot.
Projecting the attraction vector into a repulsion vector space to obtain a robot velocity vector, and then expressing the attraction vector or the avoidance vector by using a uniform velocity vector delta p, wherein the expression is as follows:
wherein ζriWith {1,0}, i ∈ {1,2} represents turning on or off of a switching signal between obstacle avoidance states. Define switching signal ζr1：
Wherein
Is the minimum distance between the robot and the obstacle. The proposed change-over signal increases the difference theta in azimuth between the robot and the target pointroThus, when | θroWhen | ≧ π/2, ζr10 indicates that the distance to the obstacle is within the robot detection range.
The switching signal 2 is denoted as ζr2And divided into successive segment switching signals:
the robot can effectively avoid obstacles under the action of the switching signal 1, and obstacle avoidance time is shortened. However, a shaking state may occur during obstacle avoidance, that is, the robot switches between an obstacle avoidance area and a safe area, resulting in reduced robot robustness. The switching signal 2 is added to be a feedforward switching signal of KM1, so that the jitter is reduced, the robustness of the system is improved, and the control system is prevented from automatically switching for infinite times.
Establishment of the hybrid control rule in step S4:
when the robot is in motion, the system is switched back and forth between obstacle avoidance and obstacle-free, so that the system is considered as a mixed switching behavior. The switching behavior of the robot between switch signal 1 and switch signal 2 is as follows:
when the robot detects an obstacle, the steering and speed of the robot itself are controlled using avoidance vectors, wherein the magnitude of the steering angle is determined by calculating the inner product between the attraction vector and the avoidance vector generated by two rotations, and the rotation vector having a larger inner product is selected as the rotation angle. The robot can obtain the repulsion vector under the static obstacle environment
And
respectively as follows:
for dynamic obstacle rejection vectors
And
respectively as follows:
the robot receives data from the sensor and analyzes the data to obtain coordinates of obstacles in the surrounding environment, wherein the rotation matrix is transformed by the robot coordinates to control the rotation angle of the robot, and the formula is as follows:
by analyzing peripheral data acquired from a sensor, an angle vector between the sensor and a barrier and an angle vector between the sensor and a target are calculated, the driving direction of the robot and a target point vector are always positive, namely an avoidance vector always determines the navigation direction of the robot, and the equation is as follows:
the pre-processing behaviors set in the robot navigation library are used for avoiding obstacles, the KM1 is used for avoiding obstacles, shaking of the system is avoided through the KM2, and the robot is controlled to move stably, so that the robot can move to a target point, and the obstacles can be avoided in real time.
Finally, the above embodiments are only intended to illustrate the technical solutions of the present invention and not to limit the present invention, and although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions, and all of them should be covered by the claims of the present invention.
Claims (1)
1. A mobile robot hybrid obstacle avoidance control method based on switching signals is characterized by comprising the following steps: the method comprises the following steps:
s1: constructing a robot model under an incomplete system, and respectively defining a barrier-free area and a barrier area as an attraction vector and a repulsion vector in a robot perception range;
s2: establishing a switching signal 1 on the switching surface; establishing a switching signal 2 on the basis of the switching signal 1;
s3: setting different control behaviors;
s4: forming a hybrid obstacle avoidance control method under the control of a switching signal;
in step S1, a robot model is constructed under the incomplete system, and the robot motion equation is expressed as:
wherein θ represents a specific direction under a global coordinate, v and w represent a linear velocity and an angular velocity of the robot, respectively, and for representing a hybrid obstacle avoidance control law, a set of continuous and smooth saturation functions σ (x) is defined and satisfies the following properties:
wherein the saturation function σ (x) ═ tanh (x);
in the steps S2 and S3, a switching signal 1 is established on the switching surface, and a switching signal 2 is established on the basis of the switching signal 1, so as to set different control behaviors, and the specific steps are as follows:
first, a suction function is set
The corresponding attraction vectors are:
wherein xrg＝xg-x，yrg＝yg-y；
The exclusion function is defined as
The corresponding exclusion vector is:
Φro＝p-pr＝[xro,yro]T
wherein xro＝x-xoAnd yro＝x-yoRepresenting a repulsion vector pointing from the obstacle to the robot, the direction of the repulsion vector being from the obstacle to the robot;
projecting the attraction vector into a repulsion vector space to obtain a robot velocity vector, and then expressing the attraction vector or the avoidance vector by using a uniform velocity vector delta p, wherein the expression is as follows:
wherein ζri1,0, and i belongs to {1,2} to represent the opening or closing of a switching signal between the obstacle avoidance states; define switching signal ζr1：
Wherein
Is the minimum distance between the robot and the obstacle; the proposed change-over signal increases the difference theta in azimuth between the robot and the target pointroWhen thetaroWhen | ≧ π/2, ζr10 represents that the distance to the obstacle is within the detection range of the robot;
the switching signal 2 is denoted as ζr2And divided into successive segment switching signals:
the robot avoids the obstacle under the action of the switching signal 1; adding the switching signal 2 to a feed-forward switching signal of KM 1;
in step S4, the establishment of the hybrid control rule:
when the robot moves, the system is switched back and forth between obstacle avoidance and obstacle avoidance, and the system is considered as a mixed switching behavior; the switching behavior of the robot between the switching signal 1 and the switching signal 2 is as follows:
when the robot detectsControlling the self-steering and speed of the robot by using an avoidance vector when the robot is in an obstacle, wherein the steering angle is determined by calculating an inner product between an attraction vector and the avoidance vector generated by two rotations, and a rotation vector with a larger inner product is selected as a rotation angle; the robot obtains the repulsion vector under the static obstacle environment
And
respectively as follows:
for dynamic obstacle rejection vectors
And
respectively as follows:
the robot receives data from the sensor and analyzes the data to obtain coordinates of obstacles in the surrounding environment, wherein the rotation matrix is transformed by the robot coordinates to control the rotation angle of the robot, and the formula is as follows:
by analyzing peripheral data acquired from the sensors, angle vectors between the sensors and the obstacle and the target are calculated, the driving direction of the robot and the target point vector are always positive, namely the avoidance vector always determines the navigation direction of the robot, and the equation is as follows:
the pre-processing behaviors set in the robot navigation library are used for avoiding obstacles, the KM1 is used for avoiding obstacles, shaking of the system is avoided through the KM2, and the robot is controlled to move stably to move towards a target point.
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| JP2017220057A (en) * | 2016-06-08 | 2017-12-14 | 株式会社リコー | Obstacle avoidance device, obstacle avoidance system and program |
| CN109597418A (en) * | 2019-02-27 | 2019-04-09 | 福州大学 | Robot distributing collaborative obstacle avoidance method based on independent virtual central point |
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| JP2017220057A (en) * | 2016-06-08 | 2017-12-14 | 株式会社リコー | Obstacle avoidance device, obstacle avoidance system and program |
| CN109597418A (en) * | 2019-02-27 | 2019-04-09 | 福州大学 | Robot distributing collaborative obstacle avoidance method based on independent virtual central point |
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