WO2017050358A1 - Navigation dynamique pour véhicules autonomes - Google Patents

Navigation dynamique pour véhicules autonomes Download PDF

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Publication number
WO2017050358A1
WO2017050358A1 PCT/EP2015/071800 EP2015071800W WO2017050358A1 WO 2017050358 A1 WO2017050358 A1 WO 2017050358A1 EP 2015071800 W EP2015071800 W EP 2015071800W WO 2017050358 A1 WO2017050358 A1 WO 2017050358A1
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WO
WIPO (PCT)
Prior art keywords
robot
obstacle
path
envelope
module
Prior art date
Application number
PCT/EP2015/071800
Other languages
English (en)
Inventor
Grégoire TERRIEN
Pierre LAMON
Rémy BLANK
Original Assignee
Bluebotics Sa
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Bluebotics Sa filed Critical Bluebotics Sa
Priority to PCT/EP2015/071800 priority Critical patent/WO2017050358A1/fr
Publication of WO2017050358A1 publication Critical patent/WO2017050358A1/fr

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Classifications

    • 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
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
    • 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
    • G05D1/0214—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, 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
    • 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
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0272—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising means for registering the travel distance, e.g. revolutions of wheels
    • 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
    • G05D1/0268—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

Definitions

  • the present invention concerns a mobile robot configured to be displaced on a path within an environment that comprises one or more obstacles and a method related thereof. Description of related art
  • Autonomous robots commonly refer to self-propelled devices capable of navigating within an environment in a free manner without human support, for instance to perform a desired task.
  • Multiple applications have been developed in very different areas including, among others, warehouses, factories, hospitals, nuclear plants, and mines.
  • autonomous robot comprises one or more sensor(s) designed for analysing the environment around the robot.
  • the sensors may comprise ranging sensors, for example radars, laser rangefinders or acoustical rangefinders, bumpers, mechanical feelers, stereo cameras, accelerometers, gyroscopes, compasses, inclinometers, altimeters, or other environmental sensors.
  • ranging sensors for example radars, laser rangefinders or acoustical rangefinders, bumpers, mechanical feelers, stereo cameras, accelerometers, gyroscopes, compasses, inclinometers, altimeters, or other environmental sensors.
  • the present document will refer mainly to a laser range sensor, without loss of generality, being it intended that the invention might be equipped with any suitable sensor.
  • the sensors are involved in a mapping step prior to the navigation of the robot.
  • the mapping aims at creating a map teaching the position of object(s) placed within the environment of the robot.
  • the robot is driven manually by an operator within the environment while the sensors register the positions and/or ranges of neighbouring obstacles and objects.
  • a map of the environment is then generated from the data so collected, usually with the aid of odometry data, by several known methods.
  • Sensors are also used for the localization of the mobile vehicle in the map, that is, to the determination of the current location and orientation of the robot on the map. This can be achieved by internal odometry data alone, provided an initial localization is known (dead reckoning) or, preferably, by a combination of odometry and ranging data.
  • the combination of position and orientation is referred to as the 'pose' of the robot and, in the case of 2D motion might be represented by a pair of Cartesian coordinates and one heading angle.
  • the localization step and the mapping are commonly performed
  • the robot computes a trajectory within the environment based on the map and localization steps.
  • US6393362 describes an autonomous-vehicle collision avoidance system for controlling the displacement of vehicles in a surface mine.
  • the system disclosed in US6393362 considers the surface of the mine and assigns a safety envelope and a trajectory to each vehicle to avoid collision between vehicles and to ensure that each vehicle performs a predetermined task.
  • the system prevents rut formation on the surface of the mine.
  • the system computes an initial safety envelope designed for being changed in a limited manner according to a predetermined set of rules.
  • US693362 fails to avoid a collision with another vehicle if the required trajectory correction and envelope correction are not listed among the predetermined set of rules.
  • the system according to US6393362 is not adapted to implement the corrections when an unexpected object is placed on the trajectory of the vehicle if said corrections were not anticipated.
  • One of the aim of the invention is to provide a method for
  • one aim is to provide a method of navigation capable of dynamically adapting the parameter of the robot during the displacement of the robot depending on the obstacle.
  • One aim of the invention is to provide a method for preventing the collision of the robot with unexpected obstacle(s) placed on the path of the robot while the robot is displacing on said path.
  • the invention's objects are achieved by a method for guarantying a safe navigation of a mobile robot, said mobile robot being configured to be displaced on a path within an environment that comprises one or more obstacles, said method comprising the following steps: i) determining the obstacle(s) of said environment, ii) determining a speed of displacement of said mobile robot, said speed being variable depending on the determined obstacle(s), iii) determining one or more safety fields around the mobile robot, at least one safety field being variable during the displacement of said mobile robot depending on said variable speed, iv) dynamically determining an envelope comprising both said variable safety fields and said mobile robot, said envelope being variable if the at least one safety field varies, v) applying a protection management procedure to prevent that at least one obstacle enters into the envelope, said protection management procedure comprising dynamically adapting the envelope so that the zone defined by said envelope remains free from obstacle.
  • “dynamically determining" of a parameter refers to real time tuning of a first parameter depending on a second parameter.
  • the parameter are chosen amongst speed, acceleration, zone defined by an envelope, geometry of the envelope or geometry of safety filed(s).
  • the term "obstacle” refers to any object, material or immaterial, placed within the environment of the robot, in particular on the path.
  • the obstacle can be material such as the walls of a corridor delimiting the path or another robot.
  • the obstacle can be immaterial such as an area free from robot or a 'virtual wall': a notional obstacle that is introduced in order to exclude certain areas like stairs from the accessible workspace.
  • a protection management procedure manages the envelope around the robot.
  • the envelope is dynamically determined depending on the speed of the robot. If the speed of the robot changes during the displacement of the robot on the path, the geometry of the envelope varies accordingly.
  • the envelope comprises at least one safety field(s) and the geometry of said safety fields is dynamically determined during the displacement of the robot depending on the speed of said robot.
  • the method further comprises a step of forecasting when at least one obstacle enters into the envelope, based on the path, and applying the protection management procedure in a preventive manner.
  • the protection management procedure further comprises adapting the speed of the mobile robot.
  • the protection management procedure adjusts the envelope and adapts the speed of the mobile robot accordingly.
  • the zone defined by the envelope is reduced and the speed of the robot is decreased while the robot is displacing on the path. If the obstacle is still detected in the envelope, the protection management procedure adjusts again the envelope and adapts again the speed in an iterative process as long as the obstacle is detected. Ultimately, the protection management procedure can stop the robot.
  • the envelope has a first geometry when the robot is in a portion of the path free from obstacle and the envelope has a second geometry when the robot is approaching an obstacle on the path, said first geometry being superior to said second geometry.
  • the geometry envelope is greater than when the robot is approaching an obstacle.
  • a greater envelope allows better anticipation of any obstacle likely to be placed on the path of the robot. For instance, if the robot is displacing on a path and a narrow passage is approaching, the speed of the vehicle will decrease naturally so that the robot will adopt a smaller envelope. As a result the robot will be able to traverse the narrow passage without risking any collision while guarantying the displacement of the robot with the optimal speed along the path.
  • the protection management procedure allows computing the maximum speed at a given time considering the envelope and the presence of any obstacles.
  • the protection management procedure comprises stopping the robot. This feature is particularly relevant when a rapid response is required to maintain a safety distance between the robot an obstacle, for instance in case of emergency or imminent danger.
  • the protection management procedure comprises computing a new path free from obstacle. This feature allow deviating the robot on a new path more suitable for the displacement of the robot.
  • new obstacle refers to obstacle unidentified in step (i), i.e. obstacles being placed on the path of the robot while the robot is displacing.
  • new obstacles also refers to obstacle previously identified during step (i) wherein the position of said obstacle has changed.
  • New obstacles are typically human, material object such as other robots crossing the path or stopping on the path.
  • the protection management procedure will prevent the new obstacles from entering into the envelope and respond by repeating step (i) to (v) in an iterative manner until the envelope is free from said new obstacles.
  • the method comprises displacing the robot within an environment surrounding said path and providing a map of said
  • mapping allow identifying and mapping the positions of at least one object(s) or obstacle (s) in the environment before the displacement of the robot on said path.
  • the map is used to plan the path that the robot has to follow within the environment.
  • the path aims at avoiding any object determined by the mapping.
  • objects refers to an immobile element placed within the environment.
  • objects can be walls delimiting the environment where the robot is displaced; objects can also stand for shelves or any kind of support that contained materials.
  • the shelves can contained materials to be loaded and displaced by the robot.
  • the method further comprises localizing the robot along the path by computing a plurality of poses (xi, yi, theta i) corresponding to the coordinates of the robot at any time along said path.
  • the poses of the robot can be correlates with the map to determine the relative position of the robot with respect to the obstacles.
  • the poses (xi, yi, theta i) can be combined to map and be used to predetermine the speed and the trajectory of the robot on the path.
  • the protection management procedure comprises a collision avoidance mode designed for preventing any collision between the robot and at least one obstacle during the displacement of the robot on the path.
  • the collision avoider mode can comprise computing a new path for avoiding the obstacle.
  • the protection management procedure comprises a collision detection mode for preventing any collision between the robot and at least one obstacle during the displacement of the robot on the path.
  • the path follower mode comprises adapting the speed of the robot depending on the obstacle and ultimately stop said robot if there is no other possibility to prevent the obstacle from entering into the envelope.
  • the protection management procedure comprises an alternation between the collision detection mode and the obstacle avoidance mode.
  • Another aim of the invention is to provide a robot free from the limitations of the known robot.
  • this aims is achieved by means of an autonomous vehicle configured to be displaced on a path within an autonomous vehicle
  • said mobile robot comprising :
  • a computing module configured to determine the obstacle(s) of said environment so as to determine a speed of displacement of said mobile robot on the path, said speed being variable depending on the determined
  • a safety module for determining one or more safety fields around the mobile robot, at least one safety field being variable during the displacement of said mobile robot depending on said variable speed; - a protection management module for dynamically determining an envelope comprising both said variable safety fields and said mobile robot, said envelope being variable if the at least one safety field varies, the protection management module being arranged for dynamically adapting said envelope so that the zone defined by said envelope remains free from obstacle
  • the safety module comprises one or more safety laser scanners.
  • a suitable laser scanner might be, among others, the model S300 produced by SICK AG, Waldkirch, Germany. Other models and makes are however also possible.
  • the protection management module further comprises an avoidance or detection module for computing a new path when obstacles are placed on the path.
  • the robot further comprises at least two motors, if it should move in a 2D workspace, and a motor control module, said control module being designed for controlling the motors that actuate the robot.
  • the protection management module manages the motor control module so that the motor is actuating depending on variation of the envelope.
  • the robot further comprises a mapping module for mapping an environment comprising said path and providing a map of said environment.
  • the robot further comprises a localization module for localizing the robot along the path by computing a plurality of poses (xi, yi, theta i) corresponding to the coordinates of the robot at any time along said path.
  • the robot first computing module and the second computing module are the same module.
  • the protection management module applies the protection management procedure.
  • a method or a robot according to the present invention can comprise an isolated embodiment.
  • a method or a robot according to the present invention can comprise a combination of a plurality of embodiments.
  • Figure 1 shows schematically a top view of a robot according to the present invention
  • Figure 2 shows a diagram of a method according to an embodiment of the present invention
  • Figures 3a to 3f show two possible variants of protection steps that can find place in the inventive method.
  • Figure 4 shows the steps of detecting an obstacle and forecasting a collision
  • FIG. 5 is a flowchart representing schematically a possible variant of the method of the invention. Detailed Description of possible embodiments of the Invention
  • FIG. 1 illustrates schematically a functional structure of a robot 1 according to the present invention.
  • the robot 1 comprises a platform 2 of any suitable shape, comprising motion means, for example three or more wheels 3, for displacing the robot 1 on a path within an environment.
  • the wheels 3 are actuated by a suitable number of motors 4, controlled by a motor control module 5.
  • a motor control module 5 controlled by a motor control module 5.
  • the platform 2 could be functionalized with different modules : a mapping module 6; a localization module 7; a computing module 8, external sensors, for example a laser ranging system 9; a safety module 10; a protection management module 11 further comprising a avoidance (detection) module 12
  • Figure 2 shows a general structure of the method according to the present invention that comprises a multistep method aiming at displacing a robot from a start point A to a destination point B (see also figure 3).
  • the first embodiment comprises a driving step 22 performed by an operator.
  • the operator drives the robot 1 within the environment from the start point to the end point via a pendant or another suitable interface (not shown in figures) that allows controlling the motions of the robot 1.
  • the first step aims at performing:
  • mapping 23 of the environment to provide a map comprising the a collection of features, for example walls, objects, and other structures that the robot cannot cross and may be, according to the mission that the robot is tasked to, obstacles for the robot;
  • Step 26 consists in computing the speed and the path of the robot 1 within the environment that must be followed to accomplish a given task.
  • the path and the speed at which it must be followed are naturally based on the previous mapping and localization steps.
  • the protection management module dynamically determines a (notional) safety envelope around the robot 1 to guaranty a safe navigation of the robot 2 within the environment, as illustrated in figures 3a-f.
  • the boundaries of the robot are computationally related, in real time, with the instantaneous dynamic state of the vehicle, for example with its speed v, acceleration, and amount of carried load.
  • the envelope will be related to the speed such that it grows when the vehicles travels faster.
  • Benign dynamic conditions like slow motion at constant rectilinear speed may be, in contrast, associated with a small envelope.
  • the relationship between envelope size and dynamic is bidirectional, in the sense that the computing module is arranged for computing automatically the envelope in response to a change of the instantaneous dynamic state, but also for adapting the dynamic state in order to adapt the envelope to approaching obstacles, as it will be shown in the following.
  • Figures 3c-d, respectively 3e-f illustrates two variants of the invention in which the protection management procedure comprises a collision detection mode, respectively an obstacle avoidance (or collision avoidance) mode.
  • the robot 1 navigates in a corridor 13 delimited by a first wall 14 and a second wall 15.
  • the corridor 13 further comprises an obstacle 16 placed in this case along the first wall 14.
  • the robot starts its mission from point A and follows with speed v a main path 17 essentially parallel to said first wall 15 and second wall 16 and extending along said corridor 13.
  • the safety envelope 18 surrounds the robot 1 and defines a zone free from obstacles 16.
  • Figure 3b represents the instant at which, the robot 1 navigating along the main path 17 toward point B, the scanner detects the presence of obstacle 16.
  • the computing module is arranged for determining the position of the obstacle 16 in relation to the envelope 18 and forecast whether, in a forthcoming part of the path, there will be a collision between the obstacle 16 and the robot 1 comprising its safety envelope 18. This could be done by considering the programmed path or, preferably, a local approximation of the path, like an arc based on the actual velocity of the vehicle (rotational and tangential) and its instantaneous position. Other approximations are however possible.
  • the computing module will determine that even if the physical hull of the robot will clear the obstacle 16, the robot including the safety envelope 18 will collide with the obstacle if the current path is continued.
  • the protection management module 11 activate an obstacle management procedure that allows to continue the navigation and complete the task going from point "A" to point "B” while keeping the envelope free from obstacles.
  • the obstacle management procedure includes a reduction of the speed of the robot 1 to a value v r i that in turn causes the protection management module 11 to dynamically adopt a smaller envelope 18.
  • the dynamic adaptation of the envelope aims at maintaining the zone defined by the envelope 16 free from obstacle 16.
  • the robot 1 surrounded by the smaller envelope 18 succeeds in passing aside the obstacle 16 in a safe manner while remaining on the main path 17 without collisions (including the safety envelope 18).
  • the speed v r i can be chosen by various algorithms. In a preferred variant, v r i is chosen, taking the vehicle's deceleration capability into account, as the maximum speed that allows stopping the robot before the collision.
  • the forecast of a collision of the obstacle 16 into the envelope 18 may induce a reduction of the speed of the robot 1, which allows the protection management module to dynamically adopt a smaller envelope 18, similarly to the first step of the collision detection mode.
  • the reduction of speed and envelope 18 is combined with the computation of a secondary path 19 which moves away from the obstacle 16.
  • the secondary path 19 is, in this example, essentially parallel to the main path 17 but located between the main path 17 and the second walll5.
  • the robot 2 is deviated from the main path 17 to the secondary path 19 until the robot passes the obstacle 16.
  • FIG. 4 illustrates again the process of collision forecast.
  • the robot 1 advancing along path 17 detects an obstacle 16 thanks to its laser, or another sensor, behind a corner.
  • the computing module considers the forthcoming part of the path 17 or, preferably, a local approximation of the path based on its current position and dynamic state, and decides whether at any future instant there will be a collision between the obstacle 16 and the robot considering also the safety envelope. Such being the case, the collision management procedure is activated.
  • the arc 17' is a suitable approximation of the stored path 17 obtained by extrapolating the robot's motion from its current position with the current tangential and angular speed (or, which is equivalent, turn radius).
  • the computing module foresees a collision of the obstacle 16 with the envelope 18' when robot is advanced to position 1'.
  • Using an approximation rather than the stored path 17 is computationally advantageous, involves less
  • Figure 5 illustrates by means of a flowchart, a possible succession of steps in the method of the invention.
  • the obstacle In this simple case the obstacle
  • the method includes optionally the planning steps of obtaining a map and of defining a mission for the robot, although these step could be avoided if the map and the mission be determined once and for all.
  • the navigation loop includes also an obstacle detection step, in which the computing unit decides whether the sensors have detected obstacles, and a collision forecast, in which it is decided whether the parts of the path yet to be followed will lead to a collision with an obstacle, considering also the safety envelope. If no obstacles are in sight, or the system decides that the obstacles will be cleared, the loop return directly to the localization step.
  • v max is updated as the maximum speed that allows to stop the vehicle before the collision.
  • the size of the safety fields and the shape of the safety envelope 18 are updated dependent from the actual value of v max and the loop restarts with a new localization.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Optics & Photonics (AREA)
  • Electromagnetism (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L'invention concerne un procédé permettant de garantir une navigation sûre d'un robot mobile (1) sur un trajet à l'intérieur d'un environnement qui comprend un ou plusieurs obstacles (16), ledit procédé comprenant les étapes suivantes consistant à : i) déterminer le ou les obstacles (16) dudit environnement, ii) déterminer une vitesse de déplacement dudit robot mobile (1) en fonction du ou des obstacles déterminés (16), iii) déterminer un ou plusieurs champs de sécurité autour du robot mobile (1) en fonction de ladite vitesse variable, iv) déterminer dynamiquement une enveloppe (18) comprenant à la fois lesdits champs de sécurité variable et ledit robot mobile (1), ladite enveloppe (18) étant variable si ledit un champ de sécurité varie, v) appliquer une procédure de gestion de protection pour empêcher qu'au moins un obstacle (16) ne pénètre dans l'enveloppe (18), ladite procédure de gestion de protection consistant à adapter dynamiquement l'enveloppe (18) de sorte que la zone définie par ladite enveloppe (18) demeure exempte d'obstacle (16).
PCT/EP2015/071800 2015-09-22 2015-09-22 Navigation dynamique pour véhicules autonomes WO2017050358A1 (fr)

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WO2018039559A3 (fr) * 2016-08-26 2018-04-05 Crown Equipment Corporation Outils de balayage d'obstacles de véhicule de manipulation de matériaux
CN109634154A (zh) * 2017-10-09 2019-04-16 奥迪股份公司 用于管理群组成员的方法和同步装置
EP3477414A1 (fr) * 2017-10-25 2019-05-01 Shanghai Slamtec Co., Ltd. Procédé et dispositif pour déplacement d'un robot mobile à proximité d'obstacles
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CN111830973A (zh) * 2020-06-29 2020-10-27 北京大学 动态环境下的移动机器人路径规划方法及装置
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US11760615B2 (en) 2018-08-31 2023-09-19 Hyster-Yale Group, Inc. Dynamic stability determination system for lift trucks
EP4350462A1 (fr) * 2022-10-04 2024-04-10 The Raymond Corporation Fonctionnalité de détection d'obstacle pour véhicules de manipulation de matériau sur la base d'un emplacement
US12001219B2 (en) 2018-06-15 2024-06-04 Mobile Industrial Robots A/S Detecting objects near an autonomous device

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WO2018039559A3 (fr) * 2016-08-26 2018-04-05 Crown Equipment Corporation Outils de balayage d'obstacles de véhicule de manipulation de matériaux
US11110957B2 (en) 2016-08-26 2021-09-07 Crown Equipment Corporation Materials handling vehicle obstacle scanning tools
US10450001B2 (en) 2016-08-26 2019-10-22 Crown Equipment Corporation Materials handling vehicle obstacle scanning tools
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