Path probability forming method for collision-free environment exploration of mobile robot

The invention is suitable for the technical field of mobile robots, and provides a path probability forming method for collision-free environment exploration of a mobile robot, which uses a probability prediction mode to predict road traffic flow, and applies nonparametric kernel density estimation...

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Bibliographic Details
Main Author HU LIYI
Format Patent
LanguageChinese
English
Published 25.08.2023
Subjects
GYROSCOPIC INSTRUMENTS
MEASURING
MEASURING DISTANCES, LEVELS OR BEARINGS
NAVIGATION
PHOTOGRAMMETRY OR VIDEOGRAMMETRY
PHYSICS
SURVEYING
TESTING
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Summary:The invention is suitable for the technical field of mobile robots, and provides a path probability forming method for collision-free environment exploration of a mobile robot, which uses a probability prediction mode to predict road traffic flow, and applies nonparametric kernel density estimation to a probability prediction task. When the bandwidth value of a main key point in kernel density estimation is calculated, on the basis of the bandwidth value calculated by the ROT rule, the bandwidth of kernel density estimation is further optimized by adopting a fruit fly optimization algorithm, so that the influence caused by assuming that normal distribution is inconsistent with data distribution under the ROT rule is reduced, and the reliability of kernel density estimation is improved. The probability interval under the corresponding confidence level is generated, and higher reliability is provided for safe driving of the mobile robot. 本发明适用于移动机器人技术领域，提供了一种移动机器人无碰撞环境探索的路径概率形成方法，该方法使用概率预测的方式对道路交通流进行预测，并将非参数核密度
Bibliography:Application Number: CN202310630163