RU2016114246A - METHOD FOR AUTOMATIC FORMATION OF SMOOTH MOBILE ROBOT MOTION TRAJECTORIES IN UNKNOWN ENVIRONMENT - Google Patents

METHOD FOR AUTOMATIC FORMATION OF SMOOTH MOBILE ROBOT MOTION TRAJECTORIES IN UNKNOWN ENVIRONMENT Download PDF

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Publication number
RU2016114246A
RU2016114246A RU2016114246A RU2016114246A RU2016114246A RU 2016114246 A RU2016114246 A RU 2016114246A RU 2016114246 A RU2016114246 A RU 2016114246A RU 2016114246 A RU2016114246 A RU 2016114246A RU 2016114246 A RU2016114246 A RU 2016114246A
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RU
Russia
Prior art keywords
mobile robot
unknown environment
robot motion
motion trajectories
automatic formation
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RU2016114246A
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Russian (ru)
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RU2661964C2 (en
Inventor
Владимир Федорович Филаретов
Дмитрий Александрович Юхимец
Original Assignee
Федеральное государственное бюджетное учреждение науки Институт автоматики и процессов управления Дальневосточного отделения Российской академии наук (ИАПУ ДВО РАН)
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Priority to RU2016114246A priority Critical patent/RU2661964C2/en
Publication of RU2016114246A publication Critical patent/RU2016114246A/en
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Publication of RU2661964C2 publication Critical patent/RU2661964C2/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • 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
    • 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

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Medical Informatics (AREA)
  • Evolutionary Computation (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Software Systems (AREA)
  • Artificial Intelligence (AREA)
  • Health & Medical Sciences (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Claims (1)

Способ автоматического формирования гладких траекторий движения мобильного робота в неизвестном окружении, включающий определение местоположения робота, обработку информации от бортовых датчиков для определения картины окружающей среды, формирование траектории движения с учетом обнаруженных препятствий, отличающийся тем, что траекторию мобильного робота строят в виде гладкой кривой, проходящей по заранее заданной последовательности целевых точек, а ее непрерывную коррекцию осуществляют с помощью построения дополнительной целевой точки, координаты которой рассчитывают на основе данных об окружающей среде, которые получают только от бортовых дальномеров, так, чтобы обеспечить расположение этой траектории от обнаруженных препятствий на расстоянии не меньшем, чем допустимое.A method for automatically generating smooth motion paths of a mobile robot in an unknown environment, including determining the location of the robot, processing information from on-board sensors to determine the environment, forming a motion path taking into account the detected obstacles, characterized in that the path of the mobile robot is built in the form of a smooth curve passing according to a predetermined sequence of target points, and its continuous correction is carried out by constructing an additional target point, the coordinates of which are calculated on the basis of environmental data, which are obtained only from onboard rangefinders, so as to ensure that this trajectory from the detected obstacles is at a distance no less than permissible.
RU2016114246A 2016-04-12 2016-04-12 Method for automatic formation of smooth movement trajectories of a mobile robot in unknown environment RU2661964C2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
RU2016114246A RU2661964C2 (en) 2016-04-12 2016-04-12 Method for automatic formation of smooth movement trajectories of a mobile robot in unknown environment

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
RU2016114246A RU2661964C2 (en) 2016-04-12 2016-04-12 Method for automatic formation of smooth movement trajectories of a mobile robot in unknown environment

Publications (2)

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RU2016114246A true RU2016114246A (en) 2017-10-13
RU2661964C2 RU2661964C2 (en) 2018-07-23

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110262485A (en) * 2019-06-10 2019-09-20 华侨大学 A kind of moving robot obstacle avoiding method based on adaptive gravitation
CN111240308A (en) * 2018-11-09 2020-06-05 北京奇虎科技有限公司 Method and device for detecting repeated obstacle, electronic equipment and readable storage medium
CN111727415A (en) * 2019-06-12 2020-09-29 深圳市大疆创新科技有限公司 Unmanned aerial vehicle control method, terminal, unmanned aerial vehicle and storage medium
CN113359862A (en) * 2021-07-28 2021-09-07 北京理工大学 Control method and device for unmanned aerial vehicle to enter closed environment
WO2023093594A1 (en) * 2021-11-24 2023-06-01 泉州装备制造研究所 Floor polishing robot trajectory deviation correction method and apparatus having error correction function

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20040138780A1 (en) * 2002-11-15 2004-07-15 Lewis Murray Anthony Certain principles of biomorphic robots
RU2344435C1 (en) * 2007-05-08 2009-01-20 Институт проблем морских технологий Дальневосточного отделения Российской академии наук (ИПМТ ДВО РАН) Method of navigational support of autonomous underwater robot controlled from control ship
CN101436073A (en) * 2008-12-03 2009-05-20 江南大学 Wheeled mobile robot trace tracking method based on quantum behavior particle cluster algorithm
RU83729U1 (en) * 2008-12-25 2009-06-20 Государственное образовательное учреждение высшего профессионального образования "Южно-Российский государственный технический университет (Новочеркасский политехнический институт) ГОУ ВПО ЮРГТУ (НПИ) ROBOT-MANIPULATOR MOVEMENT PLANNING SYSTEM IN AN UNKNOWN DYNAMIC ENVIRONMENT
RU2496081C1 (en) * 2012-05-05 2013-10-20 Алексей Вячеславович Бытьев Method of control over aircraft flight
RU2533229C2 (en) * 2013-01-10 2014-11-20 Открытое акционерное общество "Завод им. В.А. Дегтярева" Multi-functional robot system of providing military operations

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111240308A (en) * 2018-11-09 2020-06-05 北京奇虎科技有限公司 Method and device for detecting repeated obstacle, electronic equipment and readable storage medium
CN110262485A (en) * 2019-06-10 2019-09-20 华侨大学 A kind of moving robot obstacle avoiding method based on adaptive gravitation
CN110262485B (en) * 2019-06-10 2022-06-07 华侨大学 Mobile robot obstacle avoidance method based on self-adaptive gravitation
CN111727415A (en) * 2019-06-12 2020-09-29 深圳市大疆创新科技有限公司 Unmanned aerial vehicle control method, terminal, unmanned aerial vehicle and storage medium
CN113359862A (en) * 2021-07-28 2021-09-07 北京理工大学 Control method and device for unmanned aerial vehicle to enter closed environment
WO2023093594A1 (en) * 2021-11-24 2023-06-01 泉州装备制造研究所 Floor polishing robot trajectory deviation correction method and apparatus having error correction function

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Publication number Publication date
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