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Robot path planning method and device

A path planning and robotics technology, applied in the computer field, can solve problems such as low search efficiency, slow convergence speed, and inability to search for the global optimum value

Active Publication Date: 2014-02-12
CHINA INSTITUTE OF ATOMIC ENERGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Existing search algorithms converge too fast, unable to search for the global optimum, or due to low search efficiency, slow convergence

Method used

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  • Robot path planning method and device
  • Robot path planning method and device

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Embodiment Construction

[0063] Below in conjunction with accompanying drawing and specific embodiment the present invention is described in further detail:

[0064] A robot path planning device, which includes a robot capable of executing artificial fish swarm algorithm, and a robot vision system; wherein the robot vision system is composed of a binocular vision sensor, a displacement sensor, and a distance measuring sensor; the binocular vision sensor is used It is used to obtain the front image and use the shape change of the object in the image to estimate the distance between the robot and the obstacle; the displacement sensor is used to measure the movement displacement of the robot; the ranging sensor is used to measure the distance between the robot and the obstacle.

[0065] The device completes path planning according to the following method, and the specific method is as follows:

[0066] Step 1: Robot path planning is based on global path planning with fully known environmental information...

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Abstract

The invention discloses a robot path planning method based on the artificial fish school algorithm for improving foraging behavior. Environment modeling based on the free-space method has the advantages of being simple in modeling and easy to achieve. Free link lines are established with the free-space method, and the midpoints on the free link lines are connected to form a robot free mobile network; the free mobile network is searched with the Dijkstra algorithm to obtain the local shortest path, the artificial fish school algorithm for improving foraging behavior is then used for further optimizing the algorithm which is searched for, and the global shortest path is finally obtained. The robot path planning method and device are high in searching efficiency.

Description

technical field [0001] The invention relates to the field of computer technology, in particular to a method and device for robot path planning. Background technique [0002] With the development of industrialization, robots are not limited to the manufacturing industry, but are also used in the service industry and agriculture. Path planning is an important part of the mobile robot system, and directly affects the quality of the robot's task. The artificial fish swarm algorithm is a new swarm intelligence optimization algorithm proposed by Li Xiaolei et al. based on fish swarm behavior in 2002. The present invention improves the foraging behavior of the artificial fish swarm algorithm, and the improved algorithm is satisfactory in terms of convergence speed and search results. The domain accuracy has been significantly improved. At present, robot path planning is divided into two types: local path planning based on sensor information and global path planning based on fully...

Claims

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Application Information

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IPC IPC(8): G05D1/02
Inventor 彭建盛李兴罗观刘云焰
Owner CHINA INSTITUTE OF ATOMIC ENERGY
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