35results about How to "Efficient path planning" patented technology

The invention discloses a method for planning a local path of an unmanned vehicle based on model prediction. Step 1, establishing a kinematics model of an unmanned vehicle; Approximation of the driving environment; step 3, fitting the lane line and road edge curve; step 4, constructing the objective function J, the first and second items of the objective function represent the distance between the predicted value and the reference position of the center line of the main lane The deviation; the third item represents the deviation between the heading angle of the predicted output and the main lane centerline heading angle, so as to ensure that the vehicle heading angle is the same as the road heading angle, and the front wheel rotation angle will not change suddenly; the fourth item ensures that the vehicle follows the reference speed Carry out driving; The fifth item is to avoid the obstacles existing on the current lane and avoid collisions. Compared with the prior art, the present invention ensures fast and efficient path planning, and facilitates the calculation of the shortest distance between the main vehicle and surrounding vehicles and obstacles.

The invention discloses a method for allocating target points in robot formation. Step 1) calculate the set of path lengths from each robot to all target points according to the position coordinates of each robot and the target point; The extraction method selects elements in the path length set of the robot to form multiple formation matrices; step 3) calculates the norm of each formation matrix and sorts them, and the formation matrix corresponding to the smallest norm is the matrix of the formation forming the shortest path ; Step 4) Judging whether the formation-forming shortest path matrix is ​​the final target point distribution matrix, selecting the final target point distribution matrix, and the robot formation-forming target point distribution is completed. In an environment with obstacles, the present invention can realize high-efficiency formation formation with minimum time and path consumption, ie formation initialization, while avoiding obstacles, so as to achieve optimal path planning.

The invention discloses an indoor multi-mobile-robot cooperative system based on a fuzzy algorithm and two-dimensional code self correction. The system comprises multiple rotor bodies and two-dimensional codes distributed at different indoor positions. Each of the two-dimensional codes comprises a QR code which represents the position coordinate of each two-dimensional code in an indoor two-dimensional coordinate system. Each of the robot bodies is provided with a single chip microcomputer, an acceleration meter module, a gyroscope module, a two-dimensional code recognition module, a communication module, and an ultrasonic sensor. The system has the low cost, the efficient path planning can be realized, multiple robots are in cooperative operation and the conflict is avoided, and the working efficiency is high.

The invention provides a method and system for planning an internal road path, belonging to the field of traffic planning. The path planning method first constructs a road network according to internal road conditions, and adds the starting point and ending point of the current vehicle to the road network, constructs a path information set S, and adds the starting point of the vehicle to S; then takes all relevant road sections between the starting point and the ending point of the current vehicle , construct U and add all the edges corresponding to the relevant road sections and all nodes associated with the relevant road sections to U; take the newly added point in S as the key point, and mark all the candidate edges that can reach any point in U from the key point, And obtain the road condition information and road attribute information corresponding to the candidate edge; calculate the weight of the road section according to the road condition information and road attribute information, select the edge corresponding to the minimum weight value and the corresponding node to add to S; when S contains both the starting point and the ending point of the vehicle, output the plan path. The present invention simultaneously considers real-time traffic conditions and traffic rule constraints, avoids traffic jams as much as possible, and improves traffic transportation efficiency.