Robot path planning method and apparatus thereof based on Bezier curve

Abstract

The invention provides a robot path planning method and an apparatus thereof based on a Bezier curve. The method comprises the following steps that: a robot path planning parameter input unit receives and sets a robot state parameter, a constraint condition, a path discretization minimum time resolution; a robot path generation unit generates a group of Bezier curve control points consisting of four 4-dimension vectors according to the robot state parameter and plans out a continuous path between an origin position to a target position of the robot; the robot path generation unit forms a timepoint sequence according to the path discretization minimum time resolution and calculates a discretization path according to the continuous path; a path point parameter detection unit detects whether a speed, an acceleration and a turn radius of each path point which is corresponding to the time points satisfy the constraint condition; if the speed, the acceleration and the turn radius of each path point do not satisfy the constraint condition, the control points are regenerated; otherwise, a planning path output unit receives and outputs a robot path which is planed by the path point parameter detection unit and satisfies the constraint condition.

Description

technical field [0001] The invention belongs to the research of robot path planning algorithm and belongs to the field of complex system and intelligent control. The invention can be used in fields such as ground mobile robot, underwater vehicle control and unmanned aerial vehicle control. Background technique [0002] The research of robot technology is becoming more and more popular, and more and more scientific researchers have started the research of robot path planning. [0003] There are many methods for robot path planning, mainly including behavior-based methods, genetic algorithms, neural networks and other methods. Balch and Arkin proposed the use of behavioral control methods for robot path planning and control, introducing some basic behaviors, including obstacle avoidance, collision avoidance, and target navigation. Holland proposed the method of genetic algorithm. The basic idea of ​​this algorithm is a kind of stochastic optimization search algorithm constru...

AI Technical Summary

Problems solved by technology

[0005] In order to solve the robot path planning problem under the multi-constraint situation, the purpose of the present invention is to propose a robot path planning algorithm, which can plan a continuous and feasible path for the robot under barrier-free conditions, and solve various physical constraints of the robot.

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