CN107450546A - Obstacle Avoidance based on GPS and ultrasonic radar - Google Patents
Obstacle Avoidance based on GPS and ultrasonic radar Download PDFInfo
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- CN107450546A CN107450546A CN201710702689.6A CN201710702689A CN107450546A CN 107450546 A CN107450546 A CN 107450546A CN 201710702689 A CN201710702689 A CN 201710702689A CN 107450546 A CN107450546 A CN 107450546A
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- 230000004888 barrier function Effects 0.000 claims abstract description 27
- 238000000034 method Methods 0.000 claims abstract description 10
- 230000007613 environmental effect Effects 0.000 claims description 8
- 230000003068 static effect Effects 0.000 claims description 2
- 238000002604 ultrasonography Methods 0.000 abstract description 3
- 230000007812 deficiency Effects 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 description 3
- 230000004807 localization Effects 0.000 description 3
- 230000002093 peripheral effect Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 230000004927 fusion Effects 0.000 description 2
- 241001269238 Data Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction 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
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- 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
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
-
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to 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
- G05D1/0276—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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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Acoustics & Sound (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
The present invention discloses a kind of Obstacle Avoidance based on GPS and ultrasonic radar, GPS positioning unit can accurately obtain the position of robot in the method, static-obstacle thing information where robot is provided in overall situation, and ultrasonic radar can perceive robot periphery obstacle distance, the data of acquisition are only limitted to the local message of robot, pass through being used cooperatively for GPS positioning unit and ultrasonic radar data, in the case where GPS positioning unit determines roughly position avoidance is carried out using ultrasound data, all dynamics and static-obstacle thing on its periphery can effectively be avoided, so as to reach safety, accurately reach target location.And because ultrasonic radar can be distributed in around robot, robot is perceived the obstacle in surrounding environment constantly without colliding, this compensate for a certain extent GPS positioning unit due to caused by other complicated reasons positioning precision deficiency, can not avoiding dynamic barrier the shortcomings that.
Description
Technical field
Invention is related to a kind of barrier-avoiding method, and in particular to one kind is based on GPS positioning system and ultrasonic radar joint avoidance
Method.
Background technology
With the continuous enhancing of the technologies such as computing capability and sensor, the function of outdoor patrol type and security protection humanoid robot
Become increasingly to increase, at the same time, being used in mixed way for multi-sensor data also becomes increasingly various.Now, no longer office of robot
It is limited to the use of single sensor, and the environment more prepared can be obtained by the mutual cooperation of multi-sensor data
And posture information.The important means being used in conjunction with each other as robot localization of multi-sensor data is, it is necessary to stronger
Computing capability, the development of present computer are just the machine vision on basis herein that this condition provides good basis
Using gradually burning hot.
The content of the invention
In view of this, the present invention provides a kind of Obstacle Avoidance based on GPS positioning system and ultrasonic radar, should
Method carries out coarse localization by GPS to the position of robot itself, then coordinates the data message of ultrasonic radar, meets outdoor
Security robot positions and the needs of avoidance, is provided safeguard for robot navigation, avoidance.
The described Obstacle Avoidance based on GPS and ultrasonic radar concretely comprises the following steps：
(1) GPS positioning unit being arranged in robot obtains the current posture information of robot and is sent to control in real time
Unit processed, the posture information refer to the course and position of robot；Be arranged on ultrasonic radar real time scan in robot its
The environmental information of surrounding is simultaneously sent to control unit；
(2) after described control unit receives the posture information that GPS positioning unit is sent, the ground to be prestored inside it is passed through
Figure determines the static-obstacle thing on robot position periphery；
After described control unit receives the environmental information that ultrasonic radar is sent, scanning range inner machine people is obtained
The orientation and distance of all barriers of surrounding；The barrier includes static-obstacle thing and dynamic barrier；
(3) described control unit according to robot course, according to institute of robot determined by the map to be prestored inside it
In the static-obstacle thing on position periphery and the target location of setting, target location of the planning robot from current location to setting
Global route, the global route of this avoided according to the quiet of robot position periphery determined by the map to be prestored inside it
State barrier；
(4) the control control unit plans a local route every setting time, and the planing method of local route is：
Described control unit is according to the speed of travel of the robot of setting, the orientation and distance of all barriers of surrounding, rule
Draw local route, the local route be robot avoid being detected by ultrasonic radar in setting time its around own
In all routes of barrier, the most short route of localized target point distance with setting；If the local route and institute in step (3)
The global route of planning overlaps, then global route is not modified, described control unit is according to the global route control machine
People is walked, and the planning of local route next time is carried out after walking to localized target point；If misaligned, described control unit foundation
Local route control machine people walks, and be back to step (3) after walking to localized target point plans global route again.
Front, rear, the identical level locations in the left and right sides respectively place more than one ultrasonic radar in the robot.
When the gps signal is lost, local route control machine people's row that described control unit direct basis is planned
Walk.
Beneficial effect：
GPS positioning unit can accurately obtain the position of robot, control unit is obtained its periphery according to this
Static-obstacle thing；And ultrasonic radar can perceive all barriers in robot periphery (including static-obstacle thing and dynamic disorder
Thing) azimuth-range, GPS and ultrasonic radar are combined, utilized in the case where GPS positioning unit determines roughly position
Ultrasound data carries out avoidance, can effectively avoid all dynamics and static-obstacle thing on its periphery, safe and accurate so as to reach
Arrival target location.
In the present invention, using GPS and ultrasonic radar data fusion, the safety of robot running has been ensured, has been dropped
The damage risk of Di Liao robots, and task can be completed using ultrasonic radar in the case where GPS fails, it disclosure satisfy that
Outdoor security robot positioning and the needs of avoidance, provide safeguard for robot navigation, avoidance.
Ultrasonic radar is easily installed in itself, and can increase or decrease quantity as desired, therefore is had and preferably may be used
Transplantability, the scope of application are wider.And ultrasonic radar data can be combined with other detection of obstacles sensor returned datas
Use, the positioning precision of robot is further improved, and there is higher expansion.
Brief description of the drawings
Fig. 1 is the schematic flow sheet of this method.
Embodiment
The present invention will now be described in detail with reference to the accompanying drawings and examples.
The present embodiment provides a kind of Obstacle Avoidance based on GPS and ultrasonic radar, by GPS and ultrasonic radar
Data fusion ensure in robot running can effective avoiding obstacles, and can in the case where GPS fails profit
Patrol mission is completed with ultrasonic radar, to meet the needs of outdoor security robot positioning and avoidance, for robot navigation, is kept away
Barrier provides safeguard.
System used in this method mainly includes：GPS positioning unit, ultrasonic radar and the control being arranged in robot
Unit.The mode that lays of wherein ultrasonic radar is the detection model and principle according to ultrasonic radar, determines its detecting distance
And scope, then circumferentially placement is multiple along it for identical level locations with robot, it is contemplated that the safety of robot in itself is asked
Topic, places at least four ultrasonic radars, both sides are at least each one, rear at least two in front of robot.GPS positioning unit
Using the antenna of differential GPS, the antenna installation straight line of differential GPS is parallel with robot X-direction (direct of travel of robot).
GPS positioning unit is used to obtain the current posture information of robot (course and position), and ultrasonic radar is used to obtain
Take the current environmental information of robot the distance between (i.e. the orientation of periphery barrier and with periphery barrier), GPS location list
After the environmental information real-time delivery that the posture information of member acquisition, ultrasonic radar obtain is to control unit, control unit is to environment
Information (establishes model and matchingly figure record data) after being handled to peripheral obstacle and GPS posture information coordinates
To more accurate environmental information (more accurately determining the pose of robot in the environment).Control unit is to GPS location list
The information that member and ultrasonic radar are obtained can obtain static, dynamic barrier in robot after being handled
Information, using the mapping relations between ultrasonic radar and GPS information, provide next control that robot carries out local paths planning
System instruction, so that barrier is hidden or got around in robot.
Concretely comprising the following steps for barrier is hidden or got around in robot using this method：
(1) robot is during patrol, the environmental information being arranged on around the ultrasonic radar real time scan with it
(the distance between the orientation and robot of barrier opposed robots and barrier), and control unit is sent to, the frequency of scanning
Rate is 10hz；GPS positioning unit obtains the posture information of robot and is sent to control unit in real time, and positioning appearance frequency is 5hz.
(2) after control unit receives the posture information that GPS positioning unit is sent, it can determine the specific position of robot
Put and course heading, robot position week is then determined by the map, satellite map or the planning map that are prestored inside it
The static-obstacle thing on side, the static-obstacle thing refer to the barrier that the building on periphery, plant etc. will not move.
(3) after control unit receives the data that ultrasonic radar is sent, by ultrasonic radar with robot
Distribution situation, it may be determined that the orientation of robot peripheral obstacle which direction of robot (be located at) and with barrier it
Between distance.
(4) static-obstacle thing and setting of the control unit according to identified robot position periphery in step (2)
Robot next target location, go out a robot from current location under using Dijsktra algorithms or A* algorithmic rules
The global route of one target location, the global route of this can avoid all static-obstacle things in its surrounding enviroment.
(5) control unit is according to the orientation of identified robot peripheral obstacle in step (3) and between barrier
Distance, using remaining barrier as dynamic disorder after the static-obstacle thing determined by excluding step (2) around it
Thing；Then control unit calculated in the velocity space of robot be possible in 0.1s by route, press and localized target
That puts is distance weighted, cooks up a most short local route of distance, this local route can be avoided being examined by ultrasonic radar
Dynamic, the static-obstacle thing measured；If the local route overlaps with the global route planned in step (4), without road
The amendment of line；If misaligned, step (4) amendment is back to after being advanced by current local route in global route.
GPS positioning unit can accurately obtain the position of robot in the method, and ultrasonic radar can perceive
Robot periphery obstacle distance, by being used cooperatively for GPS positioning unit and ultrasonic radar data, in GPS positioning system
Avoidance is carried out so as to reach target location using ultrasound data in the case of rough determination position.Because ultrasonic radar can be with
It is distributed in around robot, robot is perceived the obstacle in surrounding environment constantly without colliding, this is in certain journey
Compensate on degree GPS positioning system due to positioning precision deficiency caused by other complicated reasons, can not avoiding dynamic barrier
Shortcoming.Meanwhile the data of ultrasonic radar acquisition are only limitted to the local message of robot, and GPS positioning unit is then
Positional information where robot can be provided in overall situation.Because ultrasonic radar can be evenly distributed in front of robot,
Rear etc., and quantity can be expanded as needed, along with the broad applicability of GPS positioning system, the algorithm has certain
Portability.
The dynamic barrier in robot can be accurately perceived due to ultrasonic radar, by algorithm
In condition limitation, when obstacle distance robot is nearer can the stop motion of Shi Zhi robots, to ensure safety.GPS location
System technology matures, and locating effect is preferable, and coarse localization is carried out to the position of robot itself by GPS positioning unit, then
By coordinating the data message of ultrasonic radar, so as to reach safe and accurate arrival target location.And ultrasonic radar is in itself
Be easily installed, and quantity can be increased or decreased as desired, thus the present invention have it is preferably portable, the scope of application compared with
Extensively.
In summary, presently preferred embodiments of the present invention is these are only, is not intended to limit the scope of the present invention.
Within the spirit and principles of the invention, any modification, equivalent substitution and improvements made etc., it should be included in the present invention's
Within protection domain.
Claims (3)
1. the Obstacle Avoidance based on GPS and ultrasonic radar, it is characterised in that concretely comprise the following steps：
(1) GPS positioning unit being arranged in robot obtains the current posture information of robot and is sent to control list in real time
Member, the posture information refer to the course and position of robot；The ultrasonic radar real time scan in robot is arranged on around it
Environmental information and be sent to control unit；
(2) it is true by the map to be prestored inside it after described control unit receives the posture information that GPS positioning unit is sent
Determine the static-obstacle thing on robot position periphery；
After described control unit receives the environmental information that ultrasonic radar is sent, obtain around scanning range inner machine people
The orientation and distance of all barriers；The barrier includes static-obstacle thing and dynamic barrier；
(3) described control unit is according to the course of robot, in place according to institute of robot determined by the map to be prestored inside it
Put the static-obstacle thing on periphery and the target location of setting, target location of the planning robot from current location to setting it is complete
Office's route, the global route of this avoid the static state barrier according to robot position periphery determined by the map to be prestored inside it
Hinder thing；
(4) the control control unit plans a local route every setting time, and the planing method of local route is：
Described control unit is according to the speed of travel of the robot of setting, the orientation and distance of all barriers of surrounding, regional planning agency
Portion's route, the local route be robot avoid being detected by ultrasonic radar in setting time its around all obstacles
In all routes of thing, the most short route of localized target point distance with setting；If the local route in step (3) with being planned
Global route overlap, then global route is not modified, described control unit is according to global route control machine people's row
Walk, the planning of local route next time is carried out after walking to localized target point；If misaligned, described control unit is according to the office
Portion route control machine people walks, and be back to step (3) after walking to localized target point plans global route again.
2. the Obstacle Avoidance based on GPS and ultrasonic radar as claimed in claim 1 or 2, it is characterised in that in institute
State front in robot, rear, the identical level locations in the left and right sides respectively place more than one ultrasonic radar.
3. the Obstacle Avoidance based on GPS and ultrasonic radar as claimed in claim 1 or 2, it is characterised in that work as institute
When stating gps signal loss, the local route control machine people that described control unit direct basis is planned walks.
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| CN201710702689.6A CN107450546A (en) | 2017-08-16 | 2017-08-16 | Obstacle Avoidance based on GPS and ultrasonic radar |
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Cited By (9)
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| CN107894773A (en) * | 2017-12-15 | 2018-04-10 | 广东工业大学 | A kind of air navigation aid of mobile robot, system and relevant apparatus |
| CN108115727A (en) * | 2017-12-19 | 2018-06-05 | 北斗七星（重庆）物联网技术有限公司 | A kind of method, apparatus and system of security robot patrol |
| CN108839021A (en) * | 2018-06-28 | 2018-11-20 | 盐城工学院 | A kind of industrial carrying machine people of automatic obstacle-avoiding |
| CN109525946A (en) * | 2018-10-31 | 2019-03-26 | 出门问问信息科技有限公司 | A kind of safety prompt function method and device |
| CN109544872A (en) * | 2018-12-29 | 2019-03-29 | 上海应用技术大学 | A kind of safe avoidance detection of manipulator and alarm system and its operating method |
| CN109795629A (en) * | 2019-01-22 | 2019-05-24 | 深兰科技（上海）有限公司 | A kind of unmanned cargo ship |
| CN110398972A (en) * | 2019-08-08 | 2019-11-01 | 上海大学 | A kind of autonomous dispatching take-away robot |
| CN111443692A (en) * | 2018-12-27 | 2020-07-24 | 北京奇虎科技有限公司 | Robot obstacle avoidance processing method, electronic device and computer-readable storage medium |
| CN116592871A (en) * | 2023-04-28 | 2023-08-15 | 连云港杰瑞科创园管理有限公司 | Unmanned ship multi-source target information fusion method |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107894773A (en) * | 2017-12-15 | 2018-04-10 | 广东工业大学 | A kind of air navigation aid of mobile robot, system and relevant apparatus |
| CN108115727A (en) * | 2017-12-19 | 2018-06-05 | 北斗七星（重庆）物联网技术有限公司 | A kind of method, apparatus and system of security robot patrol |
| CN108839021A (en) * | 2018-06-28 | 2018-11-20 | 盐城工学院 | A kind of industrial carrying machine people of automatic obstacle-avoiding |
| CN109525946A (en) * | 2018-10-31 | 2019-03-26 | 出门问问信息科技有限公司 | A kind of safety prompt function method and device |
| CN111443692A (en) * | 2018-12-27 | 2020-07-24 | 北京奇虎科技有限公司 | Robot obstacle avoidance processing method, electronic device and computer-readable storage medium |
| CN111443692B (en) * | 2018-12-27 | 2024-08-02 | 北京奇虎科技有限公司 | Robot obstacle avoidance processing method, electronic equipment and computer readable storage medium |
| CN109544872A (en) * | 2018-12-29 | 2019-03-29 | 上海应用技术大学 | A kind of safe avoidance detection of manipulator and alarm system and its operating method |
| CN109795629A (en) * | 2019-01-22 | 2019-05-24 | 深兰科技（上海）有限公司 | A kind of unmanned cargo ship |
| CN110398972A (en) * | 2019-08-08 | 2019-11-01 | 上海大学 | A kind of autonomous dispatching take-away robot |
| CN116592871A (en) * | 2023-04-28 | 2023-08-15 | 连云港杰瑞科创园管理有限公司 | Unmanned ship multi-source target information fusion method |
| CN116592871B (en) * | 2023-04-28 | 2024-04-23 | 连云港杰瑞科创园管理有限公司 | Unmanned ship multi-source target information fusion method |
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Application publication date: 20171208 |