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An Optimal Path Planning Method for Incremental Environmental Information Sampling of Indoor Mobile Robots

An optimal path planning, mobile robot technology, applied in non-electric variable control, instruments, motor vehicles, etc., can solve application limitations, computing bottlenecks, inapplicability and other problems, to improve algorithm efficiency and reduce computing time.

Active Publication Date: 2019-05-21
HUNAN UNIV
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Problems solved by technology

However, due to their high computational complexity, they are not suitable for solving robot planning problems in complex dynamic environments with multiple obstacles.
In addition, path planning algorithms based on forward graph search, such as A*, D* and neural dynamics, can meet the requirements of optimality and real-time performance during planning, but they deal with the computational bottleneck of high-dimensional problems. make its application have certain restrictions

Method used

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  • An Optimal Path Planning Method for Incremental Environmental Information Sampling of Indoor Mobile Robots
  • An Optimal Path Planning Method for Incremental Environmental Information Sampling of Indoor Mobile Robots
  • An Optimal Path Planning Method for Incremental Environmental Information Sampling of Indoor Mobile Robots

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Embodiment Construction

[0050] The present invention will be further described below in conjunction with the accompanying drawings and specific implementation examples.

[0051] Such as figure 1 As shown, the present invention is an optimal path planning method for incremental environmental information sampling of an indoor mobile robot, including the following steps:

[0052] Step 1: Establish a probabilistic model for evaluating the collision risk of obstacles in the detected area;

[0053] Firstly, the surrounding environment information of the indoor mobile robot is obtained through the sonar sensor carried by the indoor mobile robot itself; secondly, the area passed by the indoor mobile robot is regarded as the detected area, and the obstacle collision of the detected area is established according to the surrounding environment information Risk assessment probability model, and update the assessment probability model of obstacle collision risk in the detected area in real time according to the ...

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Abstract

The invention discloses an optimal path planning method for incremental environmental information sampling of indoor mobile robots. The steps are: (1) Obtain the surrounding environment information and establish an evaluation probability based on the obstacle collision risk; (2) Use the incremental The optimal path planning algorithm based on environmental information sampling is used for path planning; (3) the indoor mobile robot performs path selection and enters a new path planning process. The optimal path planning algorithm using incremental environmental information sampling can plan the current best path in real time based on the current situation of the indoor mobile robot and the inherent non-holonomic constraints of the robot. At the same time, the collision detection environment during the search tree expansion process is optimized. , improves planning efficiency and enables indoor mobile robots to reach designated locations quickly, safely and effectively.

Description

technical field [0001] The invention belongs to the field of autonomous navigation of ground wheeled robots, in particular to an optimal path planning method for incremental environmental information sampling of an indoor mobile robot. Background technique [0002] With the rapid development of artificial intelligence technology and people's demand for high-quality life, robotics is now more and more valued by the business community and the corporate world, and it is gradually moving from industrial applications to people's lives. Mobile service robot is one of the most common life service robots, which can complete some service work that is beneficial to human health, such as housework and patient care. During service work, mobile service robots usually cannot obtain all environmental information in advance and may be in unpredictable or dynamically changing environments. Considering the limited environmental sensing equipment and the noise interference in the process of e...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0217
Inventor 王耀南陈彦杰钟杭谭建豪
Owner HUNAN UNIV
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