CN109213171A - A kind of localized target point choosing method based on tangential direction - Google Patents
A kind of localized target point choosing method based on tangential direction Download PDFInfo
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- CN109213171A CN109213171A CN201811116114.7A CN201811116114A CN109213171A CN 109213171 A CN109213171 A CN 109213171A CN 201811116114 A CN201811116114 A CN 201811116114A CN 109213171 A CN109213171 A CN 109213171A
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- tangential direction
- target point
- global path
- robot
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- 238000000034 method Methods 0.000 title claims abstract description 19
- 238000011161 development Methods 0.000 claims description 4
- 238000007796 conventional method Methods 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 238000005067 remediation Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000052 comparative effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
Classifications
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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
- G05D1/0214—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
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
-
- 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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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention belongs to robot navigation's technical fields, and in particular to a kind of localized target point choosing method based on tangential direction.The solution of the present invention is mainly to seek tangent line in global path with current location point neighbor point, and find localized target this side up.The present invention solves existing localized target point choosing method (the last one point for taking global path in local map) when encountering some complex scenes, such as U-bend, the poor problem of directive function.
Description
Technical field
The invention belongs to robot navigation's technical fields, and in particular to a kind of localized target point selection based on tangential direction
Method.
Background technique
The research of robot technology is a big hot spot in recent years, and robot is autonomous to move in order to complete complicated operation
Kinetic force is then basis, and wherein pathfinding navigation is one of the core algorithm for supporting robot autonomous locomotivity.
The basic module that present pathfinding navigation algorithm includes has map drawing module, locating module, global path planning mould
Block, local paths planning module, the remediation module after planner failure.The autonomous shifting of robot is completed in the cooperation of these modules
It is dynamic.Map drawing module stores the information that external sensor obtains according to set mode group merging, forms map.It is fixed
Position module is exported in real time from the position in map.Global path planning module is after having new target point, according to the map
In be obstacle information export one can pass.Local paths planning module controls robot according to global path and reaches
Target point, and handle occur in traveling process various emergency situations (such as someone stops, not specified barrier on map,
Deng).Remediation module is only run after global path planning device and the failure of local path planner, by the methods of fleeing from, waiting
Robot is set to return to the state normally executed.
Local paths planning module renewal frequency is very high (per second to update 5 times or so), according to the position of current time robot
It sets, speed, the information such as posture generate a plurality of different paths (usually tens of), select one in these different paths and most close
Suitable, robot operation is controlled according to this, it should be noted that these paths are only to simulate, a paths only therein
It can be performed.State of these paths based on robot, according to the different acceleration and deceleration of permission, steering is fitted, for example, machine
People maintains present speed to keep straight on 1 second, it will straight line is moved through in map, this straight line is exactly a paths.Every road
A cost can be awarded in diameter, and robot executes the path for selecting cost small.It is 3 following that the cost in path calculates usually consideration
At a distance from aspect, with global path, at a distance from localized target point and at a distance from barrier.The maintenance of local paths planning device
One local map, local map record a certain range of obstacle information centered on robot.Traditional localized target
Point choosing method is the last one point for selecting global path in local map.This method has well under simple environment
Effect, but near some bends, the point of conventional method selection be often in curved after position, this will lead to robot
Close to interior wall before turning, it is unfavorable for turning.For U-bend, or even it will appear target point the robot rear the case where.
Summary of the invention
It is an object of the invention to: it performs poor near some bends to solve existing localized target point choosing method
The problem of.Be embodied in, existing method selection point be often in curved after position, this will lead to robot before turning
Close to interior wall, it is unfavorable for turning.For U-bend, or even it will appear target point the robot rear the case where.The present invention provides one
Localized target point choosing method of the kind based on tangential direction.
Technical scheme is as follows:
A kind of localized target point choosing method based on tangential direction, this method are used for robot navigation, as shown in Figure 1,
The following steps are included:
S1, initialization: obtaining current location and the global path of robot, and sets required target point and current point most
Small distance is d；
S2, it finds in global path and current location is apart from nearest point P；
S3, global path is obtained in the tangential direction of current point；
S4, using P point as starting point along S3 or the tangential direction development length d that takes, the point after setting extends is new current
Point；
S5, using current point as starting point along S3 or the tangential direction development length d that takes；
S6, judge whether the minimum range of new current point and global path is greater than the ten of new current point and P point distance
/ mono-, if so, exporting new current point is target point；If it is not, then setting the point after extending as current point, step is returned to
S5。
The solution of the present invention is the shape according to current robot for the localized target point choosing method based on tangential direction
State and global path calculate localized target point, by seeking the tangent line in global path with current location point neighbor point, and herein
Localized target is found on direction.
Beneficial effects of the present invention are that robot needs localized target point as guide in autonomous.Present
Algorithm target point is chosen for global path in the last point of local map, performs poor in detour.The part that the present invention chooses
The state of target point and robot is closely related, and in bend, S5, S6 execution number are few, and the target point of selection is apart from closest approach
It is close, robot will not be guided to lean on very much interior wall；And in straight trip, S5, S6 are executed often, closer to conventional method.Bend is attached
Close-target point choose it is closer, can also make speed it is relatively slow (simulated time in all paths be all it is identical, so slow-footed road
Diameter is short) path termination closer to target point, it is easier to win.In this way but also robot can actively slow down in turning, keep away
Exempt from danger.
Detailed description of the invention
Fig. 1 is flow chart of the invention；
Fig. 2 is running and comparing example of the present invention under different conditions；
Fig. 3 is the comparative example of the present invention with conventional method.
Specific embodiment
The solution of the present invention is described in detail in Summary, details are not described herein.
As shown in Fig. 2, left side is straight trip situation, right side is turning situation.Farther out, robot is fast for target point distance when straight trip
Degree is very fast；Target point is closer when turning, and robot speed is slower.
As shown in figure 3, left side is the present invention, right side is existing method.Wherein dash area is local map, black lines
For global path, it can be seen that the localized target point that the present invention chooses has very strong directive function.
Claims (1)
1. a kind of localized target point choosing method based on tangential direction, this method is used for robot navigation, which is characterized in that packet
Include following steps:
S1, initialization: obtaining current location and the global path of robot, and sets the most narrow spacing of required target point and current point
From for d；
S2, it finds in global path and current location is apart from nearest point P；
S3, global path is obtained in the tangential direction of current point；
S4, using P point as starting point along S3 or the tangential direction development length d that takes, the point after setting extends is new current point；
S5, using current point as starting point along S3 or the tangential direction development length d that takes；
S6, judge the minimum range of new current point and global path whether be greater than new current point and P point distance ten/
One, if so, exporting new current point is target point；If it is not, then setting the point after extending as current point, step S5 is returned to.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811116114.7A CN109213171A (en) | 2018-09-25 | 2018-09-25 | A kind of localized target point choosing method based on tangential direction |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811116114.7A CN109213171A (en) | 2018-09-25 | 2018-09-25 | A kind of localized target point choosing method based on tangential direction |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109213171A true CN109213171A (en) | 2019-01-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811116114.7A Pending CN109213171A (en) | 2018-09-25 | 2018-09-25 | A kind of localized target point choosing method based on tangential direction |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111938512A (en) * | 2020-06-30 | 2020-11-17 | 珠海市一微半导体有限公司 | Inflection point selection method of robot navigation path, chip and robot |
-
2018
- 2018-09-25 CN CN201811116114.7A patent/CN109213171A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111938512A (en) * | 2020-06-30 | 2020-11-17 | 珠海市一微半导体有限公司 | Inflection point selection method of robot navigation path, chip and robot |
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| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190115 |