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Mobile robot path planning method and device

A mobile robot, path planning technology, applied in the direction of instruments, motor vehicles, transportation and packaging, etc., can solve the problem of unreasonable path specifications of mobile robots

Inactive Publication Date: 2017-08-04
BEIHANG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The present invention provides a mobile robot path planning method and device, which are used to solve the problem of unreasonable path specifications of mobile robots in the prior art

Method used

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  • Mobile robot path planning method and device
  • Mobile robot path planning method and device

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Embodiment Construction

[0067] The specific implementation manners of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0068] figure 1 and Image 6 It shows that Embodiment 1 of the present invention provides a mobile robot path planning method, including:

[0069] S11. Obtain the current location point, target location point and obstacle area information of the mobile robot.

[0070] In this step, it should be noted that the current location point may refer to the location point when the mobile robot starts to move, or other location points that appear during the path planning process. The target location point is the location point that the mobile robot will reach after receiving the movement instruction. The obstacle area information may refer to the area occupied by obstacles encou...

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Abstract

The invention provides a mobile robot path planning method and device. The method includes the following steps: obtaining a current position point of a mobile robot, a target position point and barrier area information; generating a local window according to the current position point; when it is determined that the target position point is not located in the local window, obtaining a local sub-target position point according to the obtained position points and a planning formula; obtaining a local path between the obtained position points according to the obtained position points and a path search formula and recording the local path; and when it is determined that the local sub-target position point is the target position point, displaying the local path after smoothing is performed. The invention proposes a mobile robot path planning method and device, artificial potential field path planning is decomposed into a process of searching for a local target from a plurality of local windows, when the mobile robot is very close to the target, utilization of the path search formula can weaken the action of repulsive force, so that the mobile robot arrives at the target point, and when the mobile robot is away from the target, the mobile robot is not easy to fall into a local minimum point.

Description

technical field [0001] The invention relates to the technical field of mobile robot path planning, in particular to a mobile robot path planning method and device combining an adaptive artificial potential field and a rolling window. Background technique [0002] At present, the problem of path planning has always been a research hotspot in robot navigation and obstacle avoidance. The goal of path planning is to find a collision-free trajectory from the starting point to the target point. [0003] The path planning of mobile robots can be divided into global path planning and local path planning. Global path planning is based on the known working environment of the robot, and local path planning is suitable for application scenarios where the working environment of the mobile robot is unknown or partially known. [0004] At present, the artificial potential field method is a commonly used local path planning method for mobile robots. The artificial potential field method ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0212
Inventor 张亚龙刘正华常乐丁宝阳
Owner BEIHANG UNIV
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