Title:
GLOBAL NAVIGATION METHOD FOR MOBILE ROBOT IN MAN-MACHINE COEXISTENCE ENVIRONMENT FOLLOWING PEDESTRIAN NORM
Document Type and Number:
WIPO Patent Application WO/2023/193424
Kind Code:
A1
Abstract:
A path planning method for a mobile robot, an autonomous navigation method, a computer-readable storage medium, and a computer apparatus. The path planning method comprises: in response to a path planning request, acquiring pedestrian information in a target area; according to the locations of pedestrians, classifying the pedestrians by means of a static map, so as to obtain a classification result; acquiring pedestrian information of pedestrians in each grid, and performing clustering processing on the movement directions of the pedestrians, so as to obtain a plurality of clustering results; according to the clustering results, determining a mixed von Mises distribution of each grid; according to the mixed von Mises distribution, determining a pedestrian movement direction preference of the grid; and according to the mixed von Mises distribution and the pedestrian movement direction preference in each grid, determining an optimal global movement path of a mobile robot. The autonomous navigation method further comprises: on the basis of a given destination location and an initial location of a robot, acquiring an obstacle-free global path, and dividing the global path into a plurality of road points, wherein there are a plurality of road point intervals between adjacent road points; for each road point, acquiring a plurality of pieces of pedestrian information by means of a detection module, and inputting the pedestrian information by means of a linear speed model, so as to obtain predicted pedestrian trajectory location information, wherein the pedestrian information comprises pedestrian location data, pedestrian speed data and pedestrian occupation area radius data; calculating each piece of pedestrian trajectory location information around road points at the current time point, searching, according to the predicted pedestrian trajectory location information, for the next collision-free road point of a pedestrian in the shortest linear distance from predicted pedestrian location information, and also maintaining the robot in an interpersonal distance from the pedestrians during a moving process of the robot according to an interpersonal distance model; and providing a metabolic energy objective function and a closed-loop control model of the robot, inputting a linear speed and an angular speed of the robot into the metabolic energy objective function, so as to output a metabolic energy value of the robot, inputting the metabolic energy value into the closed-loop control model, transmitting trajectory data for reaching the next road point to a motion controller of the robot, and then controlling the robot to move to the next road point. A program instruction is stored on the computer-readable storage medium, and when executed by a processor, the program instruction implements the path planning method or the autonomous navigation method. The computer apparatus comprises an image collection device and a computer-readable storage medium.
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Inventors:
LOU YUNJIANG (CN)
CHEN YUJING (CN)
MENG YUHAO (CN)
CHEN YUJING (CN)
MENG YUHAO (CN)
Application Number:
PCT/CN2022/128602
Publication Date:
October 12, 2023
Filing Date:
October 31, 2022
Export Citation:
Assignee:
HARBIN INST TECHNOLOGY SHENZHEN (CN)
International Classes:
G05D1/02; G01C21/20
Domestic Patent References:
| WO2019147235A1 | 2019-08-01 | |||
| WO2021208143A1 | 2021-10-21 |
Foreign References:
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Other References:
YAN, HONG: "Chinese Medical Encyclopedia (Public Health·Health Statistics)", 31 December 2019, PEKING UNION MEDICAL COLLEGE PRESS, CN, ISBN: 978-7-5679-1324-0, article YAN HONG: "Passage; Chinese Medical Encyclopedia", pages: 107, XP009550120
Attorney, Agent or Firm:
ZHUHAI DEQUAN IP LAW (CN)
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