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A method for automatically planning a path for a mobile robot and the mobile robot

A mobile robot and automatic planning technology, applied in the field of mobile robots, can solve problems such as algorithm search defects, premature convergence, and low memory overhead, and achieve the effects of overcoming the lack of convergence performance, enhancing convergence performance, and accurately planning paths

Active Publication Date: 2019-02-22
GUANGDONG POLYTECHNIC NORMAL UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The existing firefly swarm algorithm has high computational efficiency, small memory overhead, few parameters to adjust, and is simple and easy to implement. However, the disturbance coefficient α in the existing firefly algorithm is usually fixed, which is critical for the search of the algorithm. Flawed, like other random search algorithms also suffer from premature convergence

Method used

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  • A method for automatically planning a path for a mobile robot and the mobile robot
  • A method for automatically planning a path for a mobile robot and the mobile robot
  • A method for automatically planning a path for a mobile robot and the mobile robot

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Embodiment 1

[0053] Embodiment 1 of the present invention provides a method for automatically planning a path of a mobile robot, and this embodiment will be described in detail below with reference to the accompanying drawings. figure 1 It is a flow chart of the method of Embodiment 1 of the present invention, please refer to figure 1 , the method of the embodiment of the present invention includes the following steps:

[0054] Step S1, collecting environmental information;

[0055] Among them, the mobile robot can scan and obtain external environmental information through infrared sensors or other acquisition devices.

[0056] Step S2, using the collected environmental information to model the area where the mobile robot is going to perform path planning to construct a two-dimensional plane coordinate map, and determine the coordinate positions of the starting point, the end point, and obstacles;

[0057] Path planning refers to finding a motion path from the starting point to the end p...

Embodiment 2

[0088] Embodiment 2 of the present invention provides a mobile robot for automatically planning paths, please refer to image 3, the mobile robot of the embodiment of the present invention includes an environment perception module 1, a path planning module 2 and a mobile driving module 3, wherein the environment perception module 1 is provided with an environment information collection module 11 and an environment information modeling module 12, and the above modules will be described below functions are described in detail.

[0089] The environmental information collection module 11 is used to collect environmental information.

[0090] Wherein, the environmental information collection module 11 can be set as an infrared sensor or other collection device, and the mobile robot can scan and obtain external environmental information through the infrared sensor or other collection device.

[0091] The environmental information modeling module 12 is used to model the area where t...

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Abstract

An automatic path planning method for a mobile robot and a mobile robot using the method, the method comprises the following steps: collecting environmental information (S1); modeling the area in which the mobile robot is scheduled to perform the path planning based on the collected environmental information to build a two-dimensional plane coordinate map and to determine coordinate locations of a starting point, an end point and an obstacle (S2); based on the two-dimensional plane coordinate map, optimizing the path of the mobile robot from the starting point to the end point using a Firefly algorithm in which population initialization is based on the Sobol sequence and the population is updated by dynamic adjustment of the disturbance coefficient, so as to plan the optimized path to be travelled in the two-dimensional plane coordinate map (S3); and driving the mobile robot to move according to the planned optimized path (S4). This method overcomes the shortcoming of the convergence performance of the existing Firefly algorithm, and enables the faster, accurate and automatic planning of path for mobile robot, thereby improving the path planning capability of the mobile robot.

Description

technical field [0001] The invention relates to the technical field of electronic robots, and more specifically, relates to a method for automatically planning a path of a mobile robot and the mobile robot. Background technique [0002] Mobile robot (Mobile robot) is a robot system composed of sensors, remote manipulators and automatically controlled mobile carriers. It is a comprehensive discipline integrated application product developed in recent years. The latest multidisciplinary research results such as automatic control and artificial intelligence represent the highest achievement of mechatronics. The mobile robot has the function of moving, and it has greater mobility and flexibility than ordinary robots in replacing people in dangerous, harsh environments and inaccessible environments. Mobile robots have been gradually applied to different industries such as industrial production, agriculture, and medical care. [0003] In the research of related technologies of m...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/02
Inventor 刘晓勇
Owner GUANGDONG POLYTECHNIC NORMAL UNIV
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