Title: An obstacle avoidance trajectory control method for intelligent robot based on K decision tree

Authors: Junru Wang

Addresses: Department of Intelligent Manufacturing and Automotive, Chongqing Vocational College of Transportation, Chongqing 402247, China

Abstract: In order to overcome the problem that the existing trajectory control methods of robot avoiding obstacles do not recognise the position and pose of the target, which have large control error, this paper proposes the research of trajectory control method of intelligent robot avoiding obstacles based on K decision tree. The robot motion model and the ultrasonic sensor observation model are established, and the self positioning coordinates are obtained. K-decision tree algorithm is used to extract the visual features of point cloud, build database, target recognition, etc. to achieve the trajectory control of robot obstacle avoidance. The experimental results show that the control accuracy of the proposed method is strong and it is a reliable obstacle avoidance control method for robot.

Keywords: K decision tree; intelligent robot; obstacle avoidance; trajectory control.

DOI: 10.1504/IJMTM.2021.118804

International Journal of Manufacturing Technology and Management, 2021 Vol.35 No.3, pp.218 - 233

Received: 27 Oct 2019
Accepted: 29 Sep 2020
Published online: 08 Nov 2021 *

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