Research On Dynamic Navigation And Obstacle Avoidance Of Robot In Semi-structured Environment

With the rapid development of robot field,it is more and more common to use robots instead of human to complete some repetitive tasks with high precision all day long.The robot has been used in the structured environment,but the semi-structured environment with unknown and uncontrollable factors remains to be explored.The key is the dynamic navigation and obstacle avoidance technology of the robot.In a semi-structured environment,factors such as moving end points,different road conditions and dynamic obstacles will affect the stable operation of the robot.Dynamic navigation and obstacle avoidance technology can help the robot to dynamically track the target,dynamically select control rules and dynamically avoid obstacles,and improve the robot’s strain capacity.This topic is aimed at the robot dynamic navigation and obstacle avoidance technology research in semi-structured environment,the purpose is to improve the robot in the semi-structured environment of the strain ability.In order to solve the problem of robot dynamic navigation and obstacle avoidance in semi-structured environment,this thesis uses the overlooking camera to obtain global scene information,formulate virtual walking routes,uses sonar and visual sensors to perceive the surrounding environment and then formulate obstacle avoidance strategies,and finally uses fuzzy PD control to guide the robot to reach the designated position stably and quickly.The specific research content of this thesis is as follows:(1)A robot dynamic navigation method in semi-structured environment is proposed.This method uses the overhead camera to obtain the global information of the environment,and then carries on the dynamic navigation after determining the navigation end point.Based on the characteristics of semi-structured environment,model the scene as a whole and locally.A dynamic tracking method based on KCF algorithm is proposed for the moving of the destination target,and the fuzzy control rule table is dynamically selected according to different road conditions,so as to deepen the adaptability of D control in dynamic navigation and complete the control function of dynamic navigation in semi-structured scenes.(2)A real-time obstacle avoidance algorithm for robots in a semi structured environment based on visual and sonar perception has been proposed.Design a real-time obstacle avoidance algorithm based on the characteristics of a semi-structured environment,use cameras and sonar rings to obtain the orientation and distance of obstacles,formulate obstacle avoidance strategies,and ensure safety issues during the dynamic navigation process..The innovation point of this thesis is to propose several sets of fuzzy PD control rules applicable to different road conditions according to the characteristics of semi-structured environment,so as to realize the stable control of the robot in different road conditions.The research content of this thesis is targeted at some unknown factors in the semi-structured environment,which enhances the robot’s adaptability to the environment and has high practical value.With the help of the Pioneer3-DX robot platform and MATLAB simulation platform,full experiments were carried out in a semi-structured environment.The experimental results show that the proposed dynamic navigation and obstacle avoidance methods are feasible in a semi-structured environment.