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Method for planning path for mobile robot based on environmental modeling and self-adapting window

A technology of self-adaptive window and mobile robot, applied in instruments, road network navigators, special data processing applications, etc., can solve problems such as large amount of calculation

Inactive Publication Date: 2012-01-11
XIAMEN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The global method can usually find the optimal solution, but it needs to know the accurate information of the environment in advance, and the calculation is very heavy

Method used

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  • Method for planning path for mobile robot based on environmental modeling and self-adapting window
  • Method for planning path for mobile robot based on environmental modeling and self-adapting window
  • Method for planning path for mobile robot based on environmental modeling and self-adapting window

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Experimental program
Comparison scheme
Effect test

Embodiment 1

[0080] 1) Multi-constraint local environment modeling and analysis

[0081] The robot uses the laser sensor to perceive the information of the obstacle. The position of each obstacle detection point relative to the robot can be directly obtained by the laser sensor. The angular scanning interval is Mark the laser scanning points counterclockwise as where l i at scan angle and the corresponding measuring distance d i to represent, that is, the polar coordinate form

[0082]

[0083] According to the local environment information detected by the above sensor scanning, design a dynamic adaptive planning window, whose radius r win It can be dynamically adjusted according to the environmental information, and the local environmental information detected within the ranging range at time t can be dynamically adjusted at a radius of r win In the semicircular window of , it is expressed as Win(r win (t))={l 1 , l 2 ,...,l i ,...,l 181}, where the scan point l i is rede...

Embodiment 2

[0140] The present invention is based on environment modeling and self-adaptive window mobile robot path planning method, the behavior decision and execution process in its path planning are as follows:

[0141] 1) For the system parameter r win 、k gh 、k safe 、k smooth 、k FD , Δr min , Δr max 、D leave , L max1 , L max2 For initialization, the robot defaults to MtG behavior when it first starts.

[0142] 2) Read the sensor data, express it in the form of formula (1), and then use formula (2) for l i to redefine.

[0143] 3) Expand the boundary of obstacle A, and use formulas (3) to (6) to calculate Win(r win (t)) in l i The traversability, safety, motion smoothness, and target attractiveness functions of .

[0144] 4) Determine what kind of behavior the robot is currently in. If it is the behavior towards the target, go to Step 5, otherwise go to Step 6.

[0145] 5) Move toward the target (Motion toward Goal, MtG) (i.e. 5.1~5.3), until one of the following condi...

Embodiment 3

[0159] In order to verify the influence of various factors in the multi-constraint environment model on path planning, Figure 2-4 The result of path planning in a simple environment is given. in, figure 2 for k gg = 1,k safe =k smooth The path when = 0 only considers the traversability, so although the path is the shortest, the distance from the obstacle is the shortest, which is not conducive to the safe driving of the robot; image 3 for k gg =0.70,k safe =0.30,k smooth = 0, considering the security, and figure 2 Compared with the safety is significantly improved (the path is far away from obstacles); Figure 4 for k gg =0.55,k dafe =0.20,k smooth =0.25, the motion stability is further considered, which is beneficial to reduce the steering operation of the robot.

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Abstract

The invention relates to a method for planning a path for a mobile robot based on environmental modeling and a self-adapting window, which relates to a method for planning a real-time path for the mobile robot. The method comprises the following steps of: performing modeling and analysis on a multiple constraint local environment; performing passable analysis; performing safety analysis; performing motion smoothness analysis; performing goal-directed analysis; and performing path planning by adopting the self-adapting window. Because the method has better environmental suitability and obstacle avoiding capacity, the method obtains good safety and reach ability, has high calculation real-time property, so the method solves the problem that the mobile robot generates an obstacle avoidance path in real time in an uncertain complex environment, provides a path selection method with optimized integration, better meets the requirements on obstacle avoidance for the mobile robot, realizes the real-time path planning and control of the robot, and provides an effective collision-less path planning method for the navigation application of the mobile robot.

Description

technical field [0001] The invention relates to a path planning method for a mobile robot, in particular to a real-time path planning method for a mobile robot based on local environment modeling and an adaptive window. Background technique [0002] Path planning refers to finding a safe and collision-free path from the starting point to the target point, which is an important topic in the research of robot navigation. According to the understanding of environmental knowledge, it can be divided into path planning in known environment and unknown environment. Regardless of which category robot path planning belongs to and which planning method is used, the following steps must basically be followed: 1) Establish an environment model, that is, abstract the real world where the robot lives and establish a related model; 2) Search for a collision-free path , which is a search algorithm for finding qualified paths in the space of a certain model. In global planning, the environ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/34G05D1/02G06F17/50
Inventor 仲训昱彭侠夫缪孟良
Owner XIAMEN UNIV
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