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Robot path planning method based on coevolution particle swarm rolling optimization

A technology of co-evolution and rolling optimization, applied in the direction of instruments, non-electric variable control, position/direction control, etc., can solve problems such as deadlock

Inactive Publication Date: 2013-10-02
SUZHOU INST OF TRADE & COMMERCE
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The artificial potential field method algorithm is simple in structure but there are local extremums, the robot will fall into the local extremum and linger; there is a deadlock phenomenon in the rolling window planning method

Method used

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  • Robot path planning method based on coevolution particle swarm rolling optimization
  • Robot path planning method based on coevolution particle swarm rolling optimization
  • Robot path planning method based on coevolution particle swarm rolling optimization

Examples

Experimental program
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Embodiment 1

[0086] Such as figure 1 As shown, the robot path planning method based on co-evolutionary particle swarm optimization is used to plan the walking path of a robot so that the robot can avoid several static obstacles in the working environment, including the following steps:

[0087] Step S1, modeling the working environment, such as image 3 As shown, it specifically includes the following steps:

[0088] Step S11, ignoring the height information in the working environment, and establishing a two-dimensional coordinate system. This step ignores the height information of the robot and obstacles, and describes the working environment of the robot as a two-dimensional bounded environment.

[0089] Step S12, set the field of view of the robot as (r, θ), where r is the radius of the field of view, and θ is the angle of view; obtain the coordinates of the starting point S and the target point G of the robot; describe the obstacle with a convex polygon in the two-dimensional coordin...

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PUM

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Abstract

The invention discloses a robot path planning method adopting multi-subgroup coevolution particle swarm optimization to perform real-time rolling optimization obstacle avoidance processing, which can enable a robot to realize autonomous navigation in a working condition with stationary obstacles at unknown positions. The method has the following advantages: the method can realize autonomous navigation of the robot in a working condition with stationary obstacle at unknown position; the method introduces group mass center strategy to the multi-subgroup coevolution, so as to increase the search capacity of the population; compared with a conventional path planning method which adopts PSO (Particle Swarm Optimization) and CPSO (Coevolution Particle Swarm Optimization), the method provided by the invention adopts survival of the fittest strategy, thereby being more advantageous in respect to rate and accuracy of evolution convergence; the method provided by the invention can real-timely plan an effective obstacle avoidance path in a complex obstacle environment, and has the advantages of good robustness, high solving efficiency, and the like.

Description

technical field [0001] The invention belongs to the technical field of robot path real-time planning, and in particular relates to a robot path planning method based on cooperative evolution particle swarm rolling optimization. Background technique [0002] Path planning refers to searching for a safe and unobstructed path from the starting point to the target point for the robot according to performance requirements such as distance, time consumption, or safety. It is an important topic in the field of robotics. According to the understanding of environmental knowledge, path planning can be divided into path planning in known environment and path planning in unknown environment. The former is also called global path planning; the latter requires the robot to use its own sensors to detect the limited The information within the range is continuously used for dynamic path planning, which is also called online path planning or local path planning. Due to the need to implement ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/00
Inventor 董虎胜陆萍
Owner SUZHOU INST OF TRADE & COMMERCE
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