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A Path Planning Method for Mobile Robots in Dynamic Environment

A mobile robot, path planning technology, applied in two-dimensional position/channel control and other directions, can solve problems such as path planning obstacles for mobile robots

Active Publication Date: 2016-08-10
UNIV OF ELECTRONICS SCI & TECH OF CHINA
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  • Abstract
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AI Technical Summary

Problems solved by technology

These will cause considerable obstacles to the path planning of mobile robots in dynamic environments.

Method used

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  • A Path Planning Method for Mobile Robots in Dynamic Environment
  • A Path Planning Method for Mobile Robots in Dynamic Environment
  • A Path Planning Method for Mobile Robots in Dynamic Environment

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Embodiment Construction

[0072] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0073] see figure 1 , a path planning method for a mobile robot in a dynamic environment. First, the grid method is used to model the environment of the robot's operating space, and then enter the first layer to plan the global path planning, and use the improved ant colony algorithm to plan a global path for the mobile robot, and then Entering the second layer of planning for local rolling prediction and collision avoidance planning, the robot performs local prediction and collision avoidance while walking along the planned global path. With the advancement of the rolling window, a global collision-free path can finally be obtained.

[0074] Among them, such as figure 2 As shown, the main idea of ​​using the grid method for environment modeling is: set the lower left corner of the robot running space E as the origin of coordinates, horizonta...

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Abstract

The invention discloses a two-layer planning method based on the combination of global path planning and local rolling prediction and collision avoidance planning to solve the path planning problem of a mobile robot in a dynamic environment. The method mainly includes two parts: global path planning and local rolling prediction and collision avoidance planning. The invention can better realize robot navigation and improve the intelligence of the robot. Using the two-level programming method can avoid the initial blindness of planning and reduce the search space of the problem; for the uncertainty of the running direction of dynamic obstacles, two collision prediction strategies and two corresponding collision avoidance strategies can be used to solve the problem well. Avoid dynamic obstacles; in particular, in order to better adapt to changes in the environment, in the second-level planning, the Follow_wall (along the wall) behavior in the behavior-based method is added, so that when the environment changes, the mobile robot can still Reach the target point safely and without collision.

Description

technical field [0001] The invention relates to the fields of robot path planning, artificial intelligence, etc., and specifically relates to a method for path planning of a mobile robot in a dynamic environment based on a two-layer planning method combining global path planning and local rolling prediction and collision avoidance planning. Background technique [0002] In the early 1980s, the research on mobile robots began to rise. At present, its research results mainly include EOD robots, robotic fish, unmanned aerial vehicles, etc. These applications require robots to have high intelligence. Robot navigation is the key technology to realize robot intelligence, and path planning, as an important part of robot navigation, has received extensive attention. After years of research, many scholars have proposed many excellent path planning algorithms, such as the early visualization method, artificial potential field method, grid method, and the later ant colony algorithm, ge...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
Inventor 屈鸿王晓斌柯星刘贵松侯孟书陈文宇冯旻昱
Owner UNIV OF ELECTRONICS SCI & TECH OF CHINA
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