Navigation control system for mobile robot

• US 5,378,969 A
• Filed: 04/09/1993
• Issued: 01/03/1995
• Est. Priority Date: 04/15/1992
• Status: Expired due to Term

• Current Assignee: Honda Giken Kogyo Kabushiki Kaisha (Honda Motor Company)
• Original Assignee: Honda Giken Kogyo Kabushiki Kaisha (Honda Motor Company)
• Inventors: Haikawa, Yuji
• Primary Examiner(s): Ip, Paul
• Application Number:
  US08/045,840
• Time in Patent Office: 634 Days
• Field of Search: 318/560-646, 395/80-99, 901/1, 901/3, 901/5, 901/7, 901/13, 901/15, 901/17, 901/19, 901/23, 180/7-9, 364/424-426
• US Class Current: 318/568.12
• CPC Class Codes: B62D 57/032 with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid B62D57/024 takes precedence
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0251 extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision stereoscopic image analysis H04N13/00; depth recovery from images G06T7/593
• CPC Class Codes: G05D 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30

Abstract

A system for controlling navigation, more particularly a current position recognition for a biped walking robot in a navigation environment. A map of the environment is prepared in advance. In the map shape features of an object such as stairs are predesignated. The robot has a vision sensor and in its navigation, the robot recognizes its current position from the shape feature. Evaluation functions are also preestablished for selecting one pair among the shape features, which are defined with respect a distance between the object and the robot and an angle determined by a pair of shape features in such a manner that two shape features existing not far from the robot and an angle determined by the two shape features are relatively large. A path is predesignated and robot motion is described in terms of basic walking patterns such as strait forward, direction change and step length adjustment. More specifically, robot joints are driven to realize the described motion such that the robot walks along the path.

Claims

1. A system for controlling navigation of a mobile robot comprising:

a vision sensor for sensing a spatial configuration of an environment in which the robot moves;

first means for predesignating shape features of an object existing in the environment;

second means for preestablishing an evaluation function defined at least with respect to a distance between the object and the mobile robot and an angle determined at least by a pair of shape features; and

third means for selecting at least one pair of shade features among the shape features in accordance with the evaluation function to measure distances from the pair of shape features so as to recognize a current position of the mobile robot in the environment.

2. A system for controlling navigation of a legged mobile robot having a single vision sensor for recognizing spatial configuration of an environment in a building within which the mobile robot moves, comprising:

first means for preestablishing a map of the environment describing an object having shape features and a forbidden area defined around the object;

second means for predesignating a path along which the mobile robot moves;

third means for predesignating shape features of the object existing in the environment;

fourth means for preestablishing an evaluation function defined at least with respect to a distance between the object and the mobile robot;

fifth means for selecting one among the shape features in accordance with the evaluation function to recognize a current position of the mobile robot;

sixth means for determining a positional error from the path predesignated by said second means; and

seventh means for moving the mobile robot to decrease the positional error.

3. A system according to claim 2, wherein the evaluation function is defined at least with respect to the distance and an angle determined at least by a pair of shape features, and said fifth means selects a pair of shape features in accordance with the evaluation function to measure distances from the pair of shape feature so as to recognize the current position of the robot in the environment.

4. A system according to claim 3, wherein said fifth means selects the pair of shape features after having confirmed that an angle determined by the pair of shape features exceeds a reference value.

5. A system according to claim 4, wherein said fifth means replaces one of the shape features with another if the angle does not exceed the reference value and selects the two shape features after having confirmed that an angle determined by the two shape features exceeds the reference value.

6. A system according to claim 2, wherein said second means predesignates the path by predesignating target points to be passed in the environment.

7. A system for controlling navigation of a legged walking robot having a body and a plurality of legs connected to the body and provided with a vision sensor for recognizing spatial configuration of an environment in a building within which the mobile robot walks, comprising:

first means for preestablishing a map of the environment describing an object having shape features and a forbidden area around the object;

second means for predesignating a path along which the robot walks;

third means for predesignating motion of the robot such that the robot walks along the path;

fourth means for predesignating shape features of the object;

fifth means for preestablishing an evaluation function defined at least with respect to a distance between the object and the mobile robot;

sixth means for selecting one among the shape features in accordance with the evaluation function to recognize a current position of the mobile robot;

seventh means for determining a positional error from the path predesignated by said second means; and

eighth means for moving the legged walking robot to decrease the positional error.

8. A system according to claim 7, wherein said third means predesignates the motion of the robot in a combination of basic walking patterns of the robot each sandwiched by a stop motion.

9. A system according to claim 8, wherein the basic walking patterns include at least one among straight forward, stair climbing/descent, direction change and step adjustment in fore/aft or right/left directions, each sandwiched by a stop motion.

10. A system according to claim 7, wherein the evaluation function is defined at least with respect to the distance and an angle determined at least by a pair of shape features, and said sixth means selects a pair of shape features in accordance with the evaluation function to measure distances from the pair of shape features so as to recognize the current position of the robot in the environment.

11. A system according to claim 10, wherein said sixth means selects the pair of shape features after having that an angle determined by the pair of shape features exceeds a reference value.

12. A system according to claim 11, wherein said sixth means replaces one of the shape features with another if the angle does not exceed the reference value and selects the two shape features after having confirmed that an angle determined by the two shape features exceeds the reference value.

13. A system according to claim 7, wherein said second means predesignates the path by predesignating target points to be passed in the environment.

14. A system for controlling navigation of a legged walking robot having a body and a plurality of articulated legs each having at least a first joint and connected to the body through a second joint, comprising:

first means for determining a path along which the robot walks;

second means for predetermining motion of the robot in a combination of basic walking patterns each sandwiched by a stop motion; and

third means for driving the joints of the robot to realize the basic walking patterns such that the robot walks along the path.

15. A system according to claim 14, wherein the basic walking patterns include at least one among straight forward, stair climbing/descent, direction change and step adjustment in fore/aft or right/left directions, each sandwiched by a stop motion.

16. In a biped walking robot of the type having a pair of legs articulated to a body, the improvement comprising:

a system for controlling movement of the robot through an environment having an object, including;

a vision sensor;

predesignating means for predesignating shape features of an object in the environment;

evaluation function means for establishing an evaluation function defined at least with respect to a distance between the object and the robot, and an angle determined at least by a pair of shape features; and

selecting means for selecting a pair of shape features in accordance with the evaluation function, to determine the current position of the robot in the environment.