CN103926925A - Improved VFH algorithm-based positioning and obstacle avoidance method and robot - Google Patents
Improved VFH algorithm-based positioning and obstacle avoidance method and robot Download PDFInfo
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Abstract
The invention provides an improved VFH algorithm-based positioning and obstacle avoidance method and robot. According to the improved VFH algorithm-based positioning and obstacle avoidance method and robot, on the basis of an improved vector field histogram method and a scan matching algorithm, environmental information is acquired by the adoption of a laser range-finder sensor, and the pose error brought by speedometer is amended by the adoption of the polar coordinate scan matching algorithm. After robot positioning is finished, environmental information is rasterized, an obstacle is expanded according to the relationship between the robot and the obstacle and considering the sensing uncertainty of a movable robot and the real size of the robot, an original polar coordinate histogram is built, the free walking area and the obstacle avoidance area are acquired, a binary polar coordinate histogram is acquired through the definition of two threshold values, a shielding polar coordinate histogram is built through estimating the movement trail of the movable robot, and finally, the cost function is introduced to determine the best movement direction of the robot so as to solve the problem of shielding route planning of the movable robot in a home environment.
Description
Technical field
The application relates to intelligent robot independent navigation field, and the ground that is specifically related to robot creates and while positioning field, relates in particular to a kind of location and barrier-avoiding method and robot based on improved VFH algorithm.
Background technology
Intelligent robot, for example, sweeping robot, robot are applied in family life more and more widely, and robot will realize flexibly, efficiently, move intelligently, need to have independent navigation ability.Map building (Map Building), location (Location) and path planning (Path Planning) are three key elements of independent navigation.The present invention relates generally to map building and while positioning field.Wherein, map building is the relation of interdependence with location, lacks the position that environmental map cannot accurate calibration robot, and initial position is uncertain, and the map creating lacks reference point.Just because of this, under circumstances not known, the location of robot and map building are realized the mode with simultaneous localization and mapping, be mobile robot along with the exploration to environment, progressively expand the range of map of self storage, and real-time positional information is demarcated in the new map creating.This technology is generally referred to as to locate with map simultaneously and generates (SLAM, Simultaneous localization and Mapping).At present, the SLAM technology of comparatively conventional intelligent robot realizes and comprises FastSLAM and the large class of vSLAM (visual SLAM) two.Wherein, FastSLAM system generally realizes with laser range finder or sonar, and vSLAM realizes with vision sensor.FastSLAM is owing to having used the sensor such as laser, sonar, and the environmental information special to some, can not identify its Special Significance as line segment, turning etc., therefore needs to improve the accuracy of location by improving algorithm.
Comparatively common Mobile Intelligent Robot location technology is mainly the environmental information according to priori at present, in conjunction with current robot location's information and sensor input message, determines exactly the process of robot pose.Mainly comprise relative positioning and absolute fix, absolute fix mainly adopts navigation beacon, active or passive mark, map match or Satellite Navigation Technique (GPS) to position, and positioning precision is higher, but cost is higher for domestic robot; Relative positioning is the current location of determining robot by robot measurement with respect to the distance of initial position and direction, and conventionally also referred to as dead reckoning, conventional sensor comprises that mileage takes into account inertial navigation system, such as rate gyro unit, accelerometer etc.The advantage of dead reckoning is that the pose of robot is that oneself calculates out, do not need the perception information of environment to external world, shortcoming is that drift error can be accumulated in time, and we know the increase that any little error all can be unlimited through accumulation, therefore need to consider error correction.
In prior art, correlation technique is carried out to various probing into, but mainly concentrated on the subsystem in each special field.For example, application for a patent for invention CN103455034A discloses a kind of based on the histogrammic obstacle-avoiding route planning method of minimum distance vector field, current robot sweep limit is divided into n sector by the method, carrys out planing method based on the histogrammic barrier path of keeping away of minimum distance vector field; Application for a patent for invention CN102541057A discloses a kind of moving robot obstacle avoiding method based on laser range finder, by laser intelligence is divided into groups, in every group, select barrier point, barrier point is mapped in robot coordinate system, adopt strategy of speed control to provide robot linear velocity and angular velocity, this invention can effectively keep away barrier in circumstances not known, and function admirable, practical, is particularly suitable for practical application; Application for a patent for invention CN103439972A discloses the method for planning path for mobile robot under a kind of DYNAMIC COMPLEX environment, utilize Grid Method to obtain grating map, the distribution of obstacles figure that Grid Method represents is converted into the tax power adjacency matrix of figure, adopt ant group algorithm to carry out global path planning to environment, and use the trap problem in room for manoeuvre rule processing environment; Application for a patent for invention CN101943916A discloses a kind of Obstacle Avoidance based on Kalman filter prediction, when having detected new barrier, sensing system occurs, set up kalman filter models according to observation data, utilize observation data and classical linear dynamic system expectation maximization Model Distinguish algorithm to carry out identification and correction to parameter, upgrade numerical map, carry out the path re-planning locally of a new round for path planner; Application for a patent for invention CN103092204A discloses a kind of Robotic Dynamic paths planning method of mixing, the method can be applied in environmental information part known and exist unknown dynamically and in the situation of static-obstacle thing simultaneously, obtain global path as Global Planning by a kind of genetic algorithm, then carry out sector planning with improved Artificial Potential Field Method.
Said method has all effectively improved the degree of accuracy of robot navigation location, but still has variety of issue.On this basis, the present invention proposes a kind of location based on improved VFH algorithm and barrier-avoiding method and adopt the method to position and keep away the robot of barrier.Utilize airborne laser range finder sensor to obtain environmental information based on improved vector field histogram method and scan matching method, utilize polar coordinate scanner matching algorithm to revise the position and attitude error that odometer brings.Complete behind robot location, by environmental information rasterizing, according to the relation between robot and barrier, mobile robot's sensing uncertainty and the actual size of robot are considered, barrier is expanded, set up initial polar coordinates histogram, walking He Bizhang district of district gains freedom, obtain binary polar coordinates histogram by defining two threshold values, by estimating mobile robot's movement locus, set up one and block polar coordinates histogram, finally introduce cost function and determine that the optimal movement direction of robot solves the obstacle-avoiding route planning problem of mobile robot under home environment.
Summary of the invention
The object of this invention is to provide a kind of location based on improved VFH algorithm and barrier-avoiding method and adopt the method to position and keep away the robot of barrier.Utilize airborne laser range finder sensor to obtain environmental information based on improved vector field histogram method and scan matching method, utilize polar coordinate scanner matching algorithm to revise the position and attitude error that odometer brings.Complete behind robot location, by environmental information rasterizing, according to the relation between robot and barrier, mobile robot's sensing uncertainty and the actual size of robot are considered, barrier is expanded, set up initial polar coordinates histogram, walking He Bizhang district of district gains freedom, obtain binary polar coordinates histogram by defining two threshold values, by estimating mobile robot's movement locus, set up one and block polar coordinates histogram, finally introduce cost function and determine that the optimal movement direction of robot solves the obstacle-avoiding route planning problem of mobile robot under home environment.
The invention discloses a kind of location and barrier-avoiding method based on improved VFH algorithm, it is characterized in that, comprise the following steps:
Environment Obstacles detects, and utilizes airborne laser range finder to scan surrounding environment, and robot is positioned;
Environmental information grid, adopts DUAL PROBLEMS OF VECTOR MAPPING method to set up environment grating map;
The weighting of grid obstacle, gives the point in each grid different weights;
Active window subregion, the grid by active window after to vectorization carries out subregion;
Minimum distance vector polar coordinates histogram is obtained in calculating;
Set up Bi Zhang district and the district of freely walking;
If there is the district of freely walking, control selected directions motion backward.
The invention also discloses a kind of robot positioning based on said method, described robot comprises a sensory perceptual system, kernel control module, man-machine interactive system, motor driven systems, described kernel control module is controlled the each unit of robot interior, and according to sensory perceptual system feedack, and the extraneous interactive signal control motor driven systems that obtains, with the movement of control.
Brief description of the drawings
Fig. 1 is the composition structural drawing of robot of the present invention;
Fig. 2 is the block diagram based on improving the histogrammic obstacle-avoiding route planning module of vector field of the present invention;
Fig. 3 obstacle of the present invention expands schematic diagram;
Fig. 4 is the Bi Zhang of foundation of the present invention district and the district's schematic diagram of freely walking
Embodiment
For making the object, technical solutions and advantages of the present invention more cheer and bright, below in conjunction with embodiment and with reference to accompanying drawing, the present invention is described in more detail.Should be appreciated that, these descriptions are exemplary, and do not really want to limit the scope of the invention.In addition, in the following description, omitted the description to known features and technology, to avoid unnecessarily obscuring concept of the present invention.
As shown in Figure 1, the present invention relates generally to the intelligent robot in home environment, and described robot has environment sensing, the autonomous mobile robot of simultaneous localization and mapping, obstacle-avoiding route planning.Comprise a sensory perceptual system, kernel control module, man-machine interactive system, motor driven systems.Described sensory perceptual system is accepted audio frequency and/or the vision signal of extraneous number of ways input, and signal and the locating information of the extraneous state of other energy perception.These signals or information come from laser ranging module, and can be from one or more modules of the modules such as environment sensing module, voice acquisition module, video acquisition module, ultrasonic distance measuring module, odometer information module.As required, can also be provided with detection of obstacles module, obstacle-avoiding route planning module etc.By obtain the one or more following information perceiving in the environment of average family, thereby the visual information of perception surrounding environment, track route obstacle around detected.
Intelligent robot is mutual by man-machine interactive system and/or radio receiving transmitting module realization and the external world.
Man-machine interactive system is as the term suggests carry out alternately with robot for extraneous, thisly can arrange according to the actual requirements alternately, and for example duty of manual control robot, path, arranges corresponding parameter, pattern etc.Described parameter can be time parameter, frequency parameter, and speed parameter etc., described pattern comprises follow the mode, patrol pattern and abnormal behaviour tupe.Man-machine interactive system can also be by being arranged on the duty of display screen in robot or signal lamp instruction robot.
Intelligent robot can also be accepted from mobile terminal by radio receiving transmitting module, the signal of for example smart mobile phone, thus realize man-machine interaction.Described man-machine interactive system and/or radio receiving transmitting module are all connected with kernel control module.
Described kernel control module is controlled the each unit of robot interior, and according to sensory perceptual system feedack, and the extraneous interactive signal control motor driven systems that obtains, with the movement of control.
Wherein said motor driven systems comprises chassis controller, motor driver, and mobile required battery module, recharging functional module, wheel etc. are housed.Wherein, described wheel is 2 driving wheels and 1 universal wheel.Kernel control module sends control command by serial ports to chassis controller, controls motor driver and carries out corresponding actions, and obstacle signal is processed.
The application has only provided a kind of embodiment of motor driven systems, but those skilled in the art should know, and anyly drives to realize by motor the mode that robot moves, and is all apparent for the application.
The structure of the disclosed two-wheel drive of the application wheel and a universal wheel can make robot can realize no-radius to turn to, the various motor functions such as forward-reverse left-right rotation.Airborne laser range finder is a part of laser ranging locating module, and airborne laser range finder is the sensor that utilizes laser technology to measure, and can realize contactless telemeasurement, and speed is fast, and precision is high, and range is large, and anti-light, electrical interference ability is strong etc.,
The airborne laser range finder data transmission of Real-time Collection is processed to the host computer of robot interior.According to obtained airborne laser range finder data, adopt the location based on improved VFH algorithm disclosed in this invention and keep away barrier technique perception surrounding environment, complete the autonomous location of robot, make robot can be in home environment independent navigation complete more auxiliary human lives's function.
As shown in Figure 2, location and the barrier-avoiding method based on improved VFH algorithm of the present invention comprises the following steps:
Environment Obstacles detects, and utilizes airborne laser range finder to scan surrounding environment, and robot is positioned;
Environmental information grid, adopts DUAL PROBLEMS OF VECTOR MAPPING method to set up environment grating map;
The weighting of grid obstacle, gives the point in each grid different weights;
Active window subregion, the grid by active window after to vectorization carries out subregion;
Minimum distance vector polar coordinates histogram is obtained in calculating;
Set up Bi Zhang district and the district of freely walking;
If there is candidate regions, control selected directions motion backward.
Described location is the scan matching localization method of the service robot based on airborne laser range finder, and its main flow process comprises the following steps:
Pre-treatment step, carries out pre-service by current scan-data, filters noise spot;
Pre-matching step, carries out pre-matching by current scan-data and the scan-data prestoring, and the estimation matching value between current scan-data and the data set of the scan-data prestoring is provided by odometer;
Select step, concentrate and choose several match points from each scan-data;
The coupling step of point, the point that the data centralization of current scan-data is selected mates with the point that the data centralization of the scan-data prestoring is selected, and forms some corresponding point pair;
Weighting step, is assigned to each corresponding point to a weight;
Reject step, concentrate those points that cannot see from current robot position to reject scan-data, and eliminate lattice point by predefined threshold value;
Error metrics calculation procedure: adopt the quadratic sum of the minor increment the point from a concentrated point of scan-data is gathered to another scanning to calculate as error metrics, and mate by scan matching algorithm.
Determine coordinate step: judge the residing position of robot according to the result of scan matching algorithm.
Location and barrier-avoiding method based on improved VFH algorithm of the present invention is on the basis of the above-mentioned scan matching location algorithm based on airborne laser range finder, to have proposed a kind of improvement vector field histogramming algorithm based on SLAM, hinders and path planning problem with solving mobile robot's keeping away in intensive complex environment.VFH algorithm, is that the working environment of robot is decomposed into a series of grid cells with two value informations, has an accumulating value in each rectangular grid, is illustrated in the confidence level that has barrier herein, and high aggregate-value represents to exist the with a high credibility of barrier.This is environment because sensor is constantly sampled fast, has the constantly detected result of grid of barrier.The selection of grid size directly affects the performance of control algolithm.Grid selects littlely, and environment resolution is just high, but anti-interference is just more weak, and environmental information memory space is large, makes speed of decision slow; It is large that grid selects, and anti-interference is just more intense, but the decline of environment resolution finds that in intensive obstacle environment the ability in path weakens.In addition, choosing of grid size is also relevant with the performance of sensor, if the precision of sensor is high and reaction velocity is fast, grid is eligible less.In VFH algorithm, characterize environment with two-dimentional grid.The work space of robot is divided into some continuous two-dimensional grid series.In each grid, comprise a probable value (CV value).This probable value has embodied the confidence level that has barrier in this grid, and CV (Certainty Value) value is higher, represents to exist the possibility of barrier just larger herein, and thus, sensor has uncertainty.
The present invention adopts the scan matching algorithm based on laser ranging data to complete the simultaneous localization and mapping problem of robot any time, and adopts DUAL PROBLEMS OF VECTOR MAPPING method effectively to reduce the calculated amount of setting up environment grating map; According to the relation between barrier in robot and environmental map, mobile robot's sensing uncertainty and the actual size of robot are considered, barrier is expanded, set up obstacle point set, form obstacle boundaries collection by the fusion of adjacent barrier, and setting up initial distance vector polar coordinates histogram with this, walking He Bizhang district of district gains freedom; The threshold function table becoming when defining one obtains binary polar coordinates histogram; By estimating mobile robot's movement locus, set up one and block polar coordinates histogram, the kinematics of robot and kinetic effect are blocked; Select best direction of motion angle according to blocking polar coordinates histogram and cost function, avoiding obstacles, drives towards impact point, so that its independent navigation under doors structure environment.
As shown in Figure 3, robot of the present invention at any time to external world the sensing range of environment be all limited, and depend on the effective range of sensor used.Define a certain moment robot can perception maximum magnitude be active window, it is actually taking machine people as the center of circle, the border circular areas that airborne laser range finder institute survey scope is radius.Adopting DUAL PROBLEMS OF VECTOR MAPPING method to set up concrete this vector magnitude of environment grating map is determined by following formula:
m
i,j＝(c
i,j *)
2(a-bd
i,j)
And its direction depends on the relative position of grid and robot central point (VCP):
Wherein: a, b is normal number;
C
i,j *the CV value of grid (i, j) in active window
D
i,jthis grid is to the distance value of robot central point (VCP)
X
0; y
0the absolute location coordinates of robot central point (VCP) this moment.
X
i; y
jthe absolute location coordinates of this grid
(2) active window subregion
If select angular resolution α, the interval obtaining after subregion sum n=360/ α.For any interval k, (k=0,1,2 ..., n-1), there is k=int (β
i,j/ α).Its obstacle density h
kcan be drawn by following formula:
α=5 in this research.
Due to the discreteness of CV value, may cause the too rare loose of obstacle density.Therefore to carry out smoothing processing to it:
(3) determine direction of motion θ
Given a certain threshold tau, obstacle density, lower than the region of this value, is called " candidate regions ".When there being continuous S
maxwhen individual candidate regions exists, claim that they are " broad valley "; Otherwise be referred to as " arrow path ".Leftmost Yi Ge district in these continuous candidate regions is designated as to k
l, rightmost Yi Ge district is designated as k
r, direction of motion can be drawn by lower formula:
Take into full account that the size dimension of robot is on the impact of arithmetic result.Grid is being amplified to r
r, r
rdepend on the size of robot.In order further to strengthen the security of robot operation, also robot and obstacle can be kept to the bee-line d not colliding
stake into account.So in fact it be exaggerated r for grid to be studied arbitrarily
r+s, r
r+s=r
r+ d
s.
For the motion of performance analysis robot, camber line when its track is resolved into the straight line of direction of motion when constant and direction and changes.This camber line depends on the radius of gyration of robot, and closely related with the speed of robot, speed is faster, and its radius of turn is larger.As shown in Figure 4, the turning radius while supposing robot to anticlockwise is r
left, turning radius when right-hand rotation is r
right.A, B is two obstacle grids.By A, B expands, and supposes that A and the left steering circle of robot have overlapping the intersection as stated above, and the All Ranges that A and left steering circle cover is so considered to Bi Zhang district (blocked); So B only has with turning to circle the Wei Bizhang district, region himself covering without crossover phenomenon.In situation shown in Fig. 4, robot will turn right.
By obtaining two extreme angles to comparing of above-mentioned condition, be distributed in the robot left and right sides.Be designated as respectively
and
definition simultaneously
represent the reverse of the current direction of motion of robot.Initial time order
for any grid C in active window
i,jif, β in the situation that its CV value meets CV < τ
i,jbe positioned at
when left side, θ right side, order
if β
i,jbe positioned at θ left side,
when on the right side, order
like this, according to
and
can obtain the histogram of another form
(masked polar histogram).This bar chart understands the feasible direction of robot under present speed.If
and
represent that this region is feasible; In other situations,
represent in this region infeasible.
Under normal circumstances, we can obtain some meeting
combination.For each combination, remember that its border, left and right is respectively: k
land k
r.If k
land k
rbetween comprised S
maxwith last interval (S
maxfor constant, in this experiment, get 10), claim this region for " wide territory "; Otherwise be referred to as " narrow territory ".Narrow territory only provides a candidate direction
after being converted into angle, be
and wide territory can provide three candidate direction: c
r, c
land c
t.
In addition, as target direction k
tmeet k
t∈ [c
r, c
l] time have a c
t=k
t, conversion is angled
for selecting most suitable direction of motion c, set up following cost function:
Δ (c
1, c
2)=min{c
1-c
2||, c
1-c
2-n||, c
1-c
2+ n|} is for calculating two interval c
1and c
2the function that absolute angle is poor.Such as Δ (c, k
t) what represent is the declinate between candidate direction and target direction, its value is larger, departs from objectives just far away when robot motion, and the cost that arrives destination is also just higher.
what represent is the differential seat angle between candidate direction and robot direct of travel, and this value is larger, and robot turns to variation larger.Δ (c, k
n, i-1) represent to be current candidate direction change with the angle between selected direction last time, be worth greatlyr, wheel steering changes greatly, moving, it is larger to shake.
So balance coefficient μ
1, μ
2and μ
3selection most important, they have directly determined the superiority of algorithm.Generally should meet: μ
1> μ
2+ μ
3.In the present embodiment, μ
1=5, μ
2=μ
3=2.
The present invention obtains robot operating path environmental information around by the airborne laser range finder being arranged on before home services robot, user's parallactic angle matched rule is eliminated the search problem of corresponding point, make to calculate translation complexity and reduce to O (n), and under the help of the embedded odometer data of service robot, current pose to robot is estimated, carry out global coherency ground map generalization simultaneously, complete the simultaneous localization and mapping (SLAM) of home services robot.Solve after its SLAM problem at family's service robot, further the working environment of robot is decomposed into a series of grid cells, consider the uncertainty of sensor measurement and the size of robot, the each barrier grid point detecting is expanded, then according to the relation between barrier in machine human and environment, set up initial polar coordinates histogram, gaining freedom, it is interval to walk district and keep away barrier, obtain binary polar coordinates histogram by defining two threshold values, consider the kinematic and dynamic constraints of robot, on binary polar coordinates histogram basis, set up and block polar coordinates histogram, last basis blocks polar coordinates histogram and cost function is selected best direction of motion angle, avoiding obstacles, drive towards impact point, so that it is independent navigation under doors structure environment.
To those skilled in the art, obviously the invention is not restricted to the details of above-mentioned example embodiment, and in the situation that not deviating from spirit of the present invention or essential characteristic, can realize the present invention with other concrete form.Therefore, no matter from which point, all should regard embodiment as exemplary, and be nonrestrictive, scope of the present invention is limited by claims instead of above-mentioned explanation, is therefore intended to all changes that drop in the implication and the scope that are equal to important document of claim to include in the present invention.
In addition, be to be understood that, although this instructions is described according to embodiment, but be not that each embodiment only comprises an independently technical scheme, this narrating mode of instructions is only for clarity sake, those skilled in the art should make instructions as a whole, and the technical scheme in each embodiment also can, through appropriately combined, form other embodiments that it will be appreciated by those skilled in the art that.
Claims (10)
1. the location based on improved VFH algorithm and a barrier-avoiding method, is characterized in that, comprises the following steps:
Environment Obstacles detects, and utilizes airborne laser range finder to scan surrounding environment, and robot is positioned;
Environmental information grid, adopts DUAL PROBLEMS OF VECTOR MAPPING method to set up environment grating map;
The weighting of grid obstacle, gives the point in each grid different weights;
Active window subregion, the grid by active window after to vectorization carries out subregion;
Minimum distance vector polar coordinates histogram is obtained in calculating;
Set up Bi Zhang district and the district of freely walking;
If there is the district of freely walking, control selected directions motion backward.
2. the method for claim 1, is characterized in that, described robot is positioned and comprised the following steps:
1) pre-treatment step, carries out pre-service by current scan-data, filters noise spot;
2) pre-matching step, carries out pre-matching by current scan-data and the scan-data prestoring, and the estimation matching value between current scan-data and the data set of the scan-data prestoring is provided by odometer;
3) select step, concentrate and choose several match points from each scan-data;
4) coupling step, the point that the data centralization of current scan-data is selected mates with the point that the data centralization of the scan-data prestoring is selected, and forms some corresponding point pair;
5) weighting step, is assigned to each corresponding point to a weight;
6) reject step, concentrate those points that cannot see from current robot position to reject scan-data, and eliminate lattice point by predefined threshold value;
7) error metrics calculation procedure: adopt the quadratic sum of the minor increment the point from a concentrated point of scan-data is gathered to another scanning to calculate as error metrics, and mate by scan matching algorithm;
8) determine coordinate step: judge the residing position of robot according to the result of scan matching algorithm.
3. the method for claim 1, is characterized in that, the weighting of described grid obstacle mainly comprises:
In each grid, comprise a probable value, described probable value is embodied in the confidence level that has barrier in this grid, and confidence value is higher, represents to exist the possibility of barrier just larger herein.
4. the method for claim 1, it is characterized in that, described active window subregion is according to the relation between barrier in robot and environmental map, based on the actual size of robot, barrier is expanded, set up obstacle point set, formed obstacle boundaries collection by the fusion of adjacent barrier.
5. the method for claim 1, it is characterized in that, if there is candidate regions in control backward selected directions motion, control two threshold values acquisition binary polar coordinates histograms of selected directions movement definition backward, and set up and block polar coordinates histogram on binary polar coordinates histogram basis, last basis blocks polar coordinates histogram and cost function is selected best direction of motion angle, and avoiding obstacles, drives towards impact point.
6. one kind adopts the robot that method positions described in claim 1, described robot comprises a sensory perceptual system, kernel control module, man-machine interactive system, motor driven systems, described kernel control module is controlled the each unit of robot interior, and according to sensory perceptual system feedack, and the extraneous interactive signal control motor driven systems that obtains, with the movement of control.
7. robot according to claim 6, it is characterized in that, described robot also comprises laser ranging module, and one or more modules in environment sensing module, voice acquisition module, video acquisition module, ultrasonic distance measuring module, odometer information module; Sensory perceptual system receives the signal of described one or more modules.
8. robot according to claim 7, is characterized in that, described robot as required, can also be provided with detection of obstacles module, obstacle-avoiding route planning module.
9. robot according to claim 6, is characterized in that, described robot can arrange the mode of operation of robot to robot by man-machine interactive system, and described pattern comprises follow the mode, patrol pattern and abnormal behaviour tupe.
10. robot according to claim 6, is characterized in that, wherein said motor driven systems comprises chassis controller, motor driver, and mobile required battery module, recharging functional module, wheel are housed; Wherein, described wheel is 2 driving wheels and 1 universal wheel, and kernel control module sends control command by serial ports to chassis controller, controls motor driver and carries out corresponding actions, and obstacle signal is processed.
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