CN110501907A - Adaptive dynamic map grid generation method for robot navigation - Google Patents
Adaptive dynamic map grid generation method for robot navigation Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
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Abstract
The present invention provides a kind of adaptive dynamic map grid generation method for robot navigation, comprising the following steps: establishes map grid centered on robot and generates guidance path；Barrier is detected using the sensor in robot, the size of barrier is determined and demarcates position of the barrier in map grid；The shortest straight line distance between barrier and guidance path is calculated, compares the relationship of shortest straight line distance and pre-determined distance and according to the resolution ratio of the map grid around shortest straight line distance and the relationship of pre-determined distance adjustment barrier.It is provided by the invention not only to have reduced robot storing data and calculation amount, but also accurate control can be carried out to robot.
Description
[technical field]
The present invention relates to electronic robot technical field more particularly to it is a kind of for robot navigation it is adaptive dynamically
Figure grid generation method.
[background technique]
Intelligent haulage equipment (Mobile robot) is a kind of mobile load by sensor, remote manipulator and automatic control
The robot system of body composition is the product of the integrated application of an interdisciplinary study developed in recent years, it concentrated it is mechanical,
The multidisciplinary newest research results such as electronics, computer, automatic control and artificial intelligence, represent the highest of electromechanical integration at
Just.With increasingly mature, the service that will there are more application scenarios to need intelligent robot of intelligent robot technology, part or
Completely instead of the work of people, cost of labor is reduced, improves working efficiency.Function one is necessary to the independent navigation of robot
Self poisoning needs to know at any time the position of the location of oneself, direction and destination, the other is avoidance, that is, transporting
The obstacle in detection front, avoids being finally reached terminal at a distance from obstacle, and effectively in dynamic.
In the prior art, autonomous mobile robot is needed during motion control in space orientation, path planning to institute
The external environment of perception carries out digitized modeling processing, and continuous external environment is divided into the grid of certain resolution size
It is stored and is calculated.The technology of mainstream all uses the division methods using global full-time constant size of mesh opening at present.Net
The too small robot that is unfavorable for of lattice density carries out fine motion control, and the promotion of mesh-density can then bring greatly storage and
The demand of calculation amount promotes hardware cost.
In consideration of it, it is really necessary to provide a kind of new adaptive dynamic map grid generation method for robot navigation
To overcome drawbacks described above.
[summary of the invention]
The object of the present invention is to provide one kind not only to have reduced robot storing data and calculation amount, but also can carry out essence to robot
The adaptive dynamic map grid generation method of the robot navigation of close control.
To achieve the goals above, the present invention provides a kind of adaptive dynamic map grid generation for robot navigation
Method, which is characterized in that method includes the following steps:
Map grid is established centered on robot and generates guidance path；
Barrier is detected using the sensor in robot, the size of barrier is determined and demarcates barrier in map grid
In position；
The shortest straight line distance between barrier and guidance path is calculated, the pass of shortest straight line distance and pre-determined distance is compared
It is and according to the resolution ratio of the map grid around shortest straight line distance and the relationship of pre-determined distance adjustment barrier.
In a preferred embodiment, it is described establish map grid centered on robot and generate guidance path include
Following steps:
Robot receives and stores map datum packet, and is shown in the form of map grid；
The position of robot localization position and destination in map grid, automatically generates guidance path.
In a preferred embodiment, the sensor using in robot detects barrier and determines barrier
Size in the map grid position the following steps are included:
Detect whether that there are barriers using the sensor in robot；
If determining the size of barrier with the presence of barrier and demarcating position of the barrier in map grid.
In a preferred embodiment, the relatively shortest straight line distance and the relationship of pre-determined distance are simultaneously according to most short straight
The resolution ratio of map grid around the relationship of linear distance and pre-determined distance adjustment barrier includes:
The pre-determined distance includes first distance, second distance, third distance, first distance > second distance > third away from
It include first resolution, second resolution, third resolution ratio and the 4th resolution ratio from, the resolution ratio of the map grid, first
The 4th resolution ratio of resolution ratio < second resolution < third resolution ratio <；
When shortest straight line distance > first distance, the map grid around barrier is in first resolution, the net
Lattice map does not store position of the barrier in map grid；
When first distance >=shortest straight line distance > second distance, the grid map storage barrier is in map grid
Position, the map grid around barrier is in second resolution；
When second distance >=shortest straight line distance > third distance, the grid map storage barrier is in map grid
Position, the map grid around barrier is in third resolution ratio；
When third distance >=shortest straight line distance, position of the grid map storage barrier in map grid, barrier
The map grid around object is hindered to be in the 4th resolution ratio.
In a preferred embodiment, the resolution ratio of the map grid and dividing precision are in inverse ratio；The map net
The dividing precision of lattice first resolution is 8cm, and the dividing precision of the map grid second resolution is 4cm, the map net
The dividing precision of lattice third resolution ratio is 2cm, and the dividing precision of the 4th resolution ratio of map grid is 1cm.
In a preferred embodiment, the first distance is 100cm, and the second distance is 50cm, the third
Distance is 20cm.
In a preferred embodiment, the resolution ratio of the map grid and the modeling range of the map grid are in anti-
Than.
In a preferred embodiment, the resolution ratio of the map grid and the movement speed of robot are in inverse ratio.
Provided by the present invention for the adaptive dynamic map grid generation method of robot navigation, by map grid
The position of middle mark barrier, and according to the map grid around shortest straight line distance and the relationship of pre-determined distance adjustment barrier
Resolution ratio reduce calculation amount, again so that map grid can either meet service precision, and reduce memory space as far as possible
Accurate control can be carried out to robot.The adaptive dynamic map grid generation method of robot navigation provided by the invention, both
Robot storing data and calculation amount are reduced, and accurate control can be carried out to robot.
[Detailed description of the invention]
Fig. 1 is the flow chart provided by the present invention for the adaptive dynamic map grid generation method of robot navigation.
Fig. 2 is shown in Fig. 1 for one in the flow chart of the adaptive dynamic map grid generation method of robot navigation
A sub-process figure.
Fig. 3 is shown in Fig. 1 for another in the flow chart of the adaptive dynamic map grid generation method of robot navigation
One sub-process figure.
Fig. 4 is the schematic diagram provided by the present invention for the adaptive dynamic map grid generation method of robot navigation.
[specific embodiment]
It is clear in order to be more clear the purpose of the present invention, technical solution and advantageous effects, below in conjunction with attached drawing and
Specific embodiment, the present invention will be described in further detail.It should be understood that specific implementation described in this specification
Mode is not intended to limit the present invention just for the sake of explaining the present invention.
Fig. 1 to Fig. 3 is please referred to, the present invention provides a kind of adaptive dynamic map grid generation side for robot navigation
Method, comprising the following steps:
Step S01 is established map grid centered on robot and generates guidance path.
Specifically, the step S01 is further comprising the steps of:
Step S11, robot receive and store map datum packet, and are shown in the form of map grid.Wherein robot
The map datum packet that position is received by network or data line, allows the robot to establish basic map grid.
Step S12, the position of robot localization position and destination in map grid automatically generate navigation road
Diameter.Robot is by GPS or other positioning systems positioning robot position and robot destination in map grid
Position, calculate best pass namely guidance path.
Step S02 detects barrier using the sensor in robot, determines the size of barrier and demarcate barrier and exist
Position in map grid.
Specifically, the step S02 is further comprising the steps of:
Step S21 detects whether that there are barriers using the sensor in robot.
Step S22, if determining the size of barrier with the presence of barrier and demarcating position of the barrier in map grid
It sets；If barrier is not present, return step S21.
Step S03 calculates the shortest straight line distance between barrier and guidance path, compares shortest straight line distance and presets
The relationship of distance and the resolution ratio that the map grid around barrier is adjusted according to shortest straight line distance and the relationship of pre-determined distance.
Please with reference to Fig. 4, in the present embodiment, the pre-determined distance includes first distance, second distance, third distance,
First distance > second distance > third distance, the resolution ratio of the map grid include first resolution, second resolution,
Three resolution ratio and the 4th resolution ratio, the 4th resolution ratio of first resolution < second resolution < third resolution ratio <；
By taking barrier A as an example, when shortest straight line distance > first distance, the grid map does not store barrier on ground
The map grid around the barrier of position in figure grid is in first resolution；
By taking barrier B as an example, when first distance >=shortest straight line distance > second distance, the grid map storage barrier
Hinder position of the object in map grid, the map grid around barrier is in second resolution；
By taking barrier C as an example, when second distance >=shortest straight line distance > third apart from when, grid map storage barrier
Hinder position of the object in map grid, the map grid around barrier is in third resolution ratio；
By taking barrier D as an example, when third distance >=shortest straight line distance, the grid map storage barrier is in map
Position in grid, the map grid around barrier are in the 4th resolution ratio.
It should be understood that the region of radius > first distance is safe passing area, and robot can press using barrier as the center of circle
Directly pass through according to guidance path.
Using barrier as the center of circle, first distance >=radius > second distance region is careful FOH, and robot can press
Pass through according to guidance path deceleration.
Using barrier as the center of circle, second distance >=radius > third distance region is dangerous FOH, and robot can press
Pass through according to guidance path deceleration or programme path cut-through object again.
Using barrier as the center of circle, the region of third distance >=radius is that no through traffic area, robot need to plan navigation again
Path cut-through object.
Further, the resolution ratio of the map grid and dividing precision are in inverse ratio；The map grid first is differentiated
The dividing precision of rate is 8cm, and the dividing precision of the map grid second resolution is 4cm, and the map grid third is differentiated
The dividing precision of rate is 2cm, and the dividing precision of the 4th resolution ratio of map grid is 1cm.
The first distance is 100cm, and the second distance is 50cm, and the third distance is 20cm.Namely step S01
Described in map grid initial resolution dividing precision be 8cm, shortest straight line distance is smaller, the map net around barrier
Lattice resolution is higher, and the resolution ratio dividing precision of the map grid is thinner.
Further, the resolution ratio of the map grid and the modeling range of the map grid are in inverse ratio.Specifically,
When the dividing precision precision of map grid is thinner, the modeling range of map grid is smaller.For example, map grid dividing precision is 10
Centimetre when, robot can store the environmental data in 50 meters；And map grid dividing precision be 1 centimetre when, robot can only
Enough store the environmental data in 5 meters.
In addition, the resolution ratio of the map grid and the movement speed of robot are in inverse ratio.That is the division essence of map grid
Spend more coarse, resolution ratio is lower, shows accessible on guidance path, and the travel speed of robot is faster；Conversely, map grid
Dividing precision is thinner, and resolution ratio is higher, shows that a possibility that guidance path meets obstacle is bigger, the travel speed of robot is lower.
For example, robot speed is 0.2 metre per second (m/s) when map grid dividing precision is 1 centimetre；When grid dividing precision be 4 centimetres,
Robot speed is 1 metre per second (m/s).
In addition, since the grid that most of classical navigation path planning and control algolithm rely on global constant dimensions carries out
It calculates, therefore when using such classic algorithm, the dividing precision of the resolution ratio of environment grid is set as integer multiple
Relationship.Such as 1 centimetre in the present embodiment, 2 centimetres, 4 centimetres, 8 centimetres.
In other embodiments, the pre-determined distance be not limited to the first distance, second distance and third away from
From；The resolution ratio of the map grid is also not limited to first resolution, second resolution, third resolution ratio and differentiates with the 4th
Rate.
Provided by the present invention for the adaptive dynamic map grid generation method of robot navigation, by map grid
The position of middle mark barrier, and according to the map grid around shortest straight line distance and the relationship of pre-determined distance adjustment barrier
Resolution ratio reduce calculation amount, again so that map grid can either meet service precision, and reduce memory space as far as possible
Accurate control can be carried out to robot.The adaptive dynamic map grid generation method of robot navigation provided by the invention, both
Robot storing data and calculation amount are reduced, and accurate control can be carried out to robot.
The present invention is not only in the description and the implementation described, therefore for the personnel of familiar field
Other advantage and modification is easily implemented, therefore in the essence without departing substantially from universal defined by claim and equivalency range
In the case where mind and range, the present invention is not limited to specific details, representative equipment and diagrams shown and described herein
Example.
Claims (8)
1. a kind of adaptive dynamic map grid generation method for robot navigation, which is characterized in that this method include with
Lower step:
Map grid is established centered on robot and generates guidance path；
Barrier is detected using the sensor in robot, the size of barrier is determined and demarcates barrier in map grid
Position；
The shortest straight line distance between barrier and guidance path is calculated, compares the relationship of shortest straight line distance and pre-determined distance simultaneously
According to the resolution ratio of the map grid around shortest straight line distance and the relationship of pre-determined distance adjustment barrier.
2. being used for the adaptive dynamic map grid generation method of robot navigation as described in claim 1, which is characterized in that
It is described map grid is established centered on robot and generate guidance path the following steps are included:
Robot receives and stores map datum packet, and is shown in the form of map grid；
The position of robot localization position and destination in map grid, automatically generates guidance path.
3. being used for the adaptive dynamic map grid generation method of robot navigation as described in claim 1, which is characterized in that
The sensor detection barrier using in robot and the size for determining barrier and the position in the map grid
The following steps are included:
Detect whether that there are barriers using the sensor in robot；
If determining the size of barrier with the presence of barrier and demarcating position of the barrier in map grid.
4. being used for the adaptive dynamic map grid generation method of robot navigation as described in claim 1, which is characterized in that
The relatively shortest straight line distance and the relationship of pre-determined distance simultaneously hinder according to shortest straight line distance and the adjustment of the relationship of pre-determined distance
The resolution ratio for hindering the map grid around object includes:
The pre-determined distance includes first distance, second distance, third distance, first distance > second distance > third distance,
The resolution ratio of the map grid includes first resolution, second resolution, third resolution ratio and the 4th resolution ratio, and first differentiates
The 4th resolution ratio of rate < second resolution < third resolution ratio <；
When shortest straight line distance > first distance, the map grid around barrier is in first resolution, the grid
Figure does not store position of the barrier in map grid；
When first distance >=shortest straight line distance > second distance, position of the grid map storage barrier in map grid
It sets, the map grid around barrier is in second resolution；
When second distance >=shortest straight line distance > third distance, position of the grid map storage barrier in map grid
It sets, the map grid around barrier is in third resolution ratio；
When third distance >=shortest straight line distance, position of the grid map storage barrier in map grid, barrier
The map grid of surrounding is in the 4th resolution ratio.
5. being used for the adaptive dynamic map grid generation method of robot navigation as claimed in claim 4, which is characterized in that
The resolution ratio and dividing precision of the map grid are in inverse ratio；The dividing precision of the map grid first resolution is 8cm, institute
The dividing precision for stating map grid second resolution is 4cm, and the dividing precision of the map grid third resolution ratio is 2cm, institute
The dividing precision for stating the 4th resolution ratio of map grid is 1cm.
6. being used for the adaptive dynamic map grid generation method of robot navigation as claimed in claim 4, which is characterized in that
The first distance is 100cm, and the second distance is 50cm, and the third distance is 20cm.
7. being used for the adaptive dynamic map grid generation method of robot navigation as described in claim 1, which is characterized in that
The resolution ratio of the map grid and the modeling range of the map grid are in inverse ratio.
8. being used for the adaptive dynamic map grid generation method of robot navigation as described in claim 1, which is characterized in that
The resolution ratio of the map grid and the movement speed of robot are in inverse ratio.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111813101A (en) * | 2020-06-04 | 2020-10-23 | 深圳优地科技有限公司 | Robot path planning method and device, terminal equipment and storage medium |
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