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Route planning method of indoor blind guiding robot under dynamic environment

A blind-guiding robot and dynamic environment technology, applied in robot-related fields, to improve reliability, reduce randomness, and ensure safety

Active Publication Date: 2018-08-31
TIANJIN UNIVERSITY OF TECHNOLOGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The random road map method can also solve complex obstacles in the environment well, and it overcomes the shortcomings of local minima that are prone to appear in path planning

Method used

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  • Route planning method of indoor blind guiding robot under dynamic environment
  • Route planning method of indoor blind guiding robot under dynamic environment
  • Route planning method of indoor blind guiding robot under dynamic environment

Examples

Experimental program
Comparison scheme
Effect test

Embodiment

[0033] Embodiment: a kind of path planning method of indoor guiding robot in dynamic environment, such as image 3 , characterized in that it includes the following steps:

[0034] (1) Generate a grid map of the environment where the blind-guiding robot’s working place is located, and inflate the obstacles in the map. By adjusting the inflation_radius obstacle expansion parameter, the best path is as far away from the obstacles on each side as possible, so The robot can move among obstacles;

[0035] (2) Given the target point that the guide robot needs to reach, the guide robot determines the target point on the corresponding position of the grid map, and according to the current position, the target point to be reached and the grid map collected in advance, Using the most effective direct search method for solving the shortest path in the static road network, referred to as the A* algorithm, this algorithm is a heuristic search method that adds heuristic information related...

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PUM

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Abstract

Provided is a route planning method of an indoor blind guiding robot under a dynamic environment. According to the method, through generation of environmental raster maps, expansion treatment, targetpoint determination, map information collection, planning of a global route and regional routes, barrier avoidance and a mode of returning to the global route, route planning and movement of the blindguiding robot under an arbitrary dynamic environment are achieved. Randomness of regional barrier avoidance is lowered, and the reliability of barrier avoidance under the dynamic environment is improved; generation of regional minimum values is avoided by means of a random path graph method, and the planning efficiency is taken into account without increasing the calculation amount. The blind guiding robot can walk along the global route as much as possible, and therefore the safety of the blind during movement is greatly ensured.

Description

(1) Technical field: [0001] The invention belongs to the technical field related to robots, and relates to the design of a path planning algorithm for a blind-guiding robot, in particular to a path planning method for an indoor blind-guiding robot in a dynamic environment. (two) background technology: [0002] Blind-guiding robots can bring convenience to the travel of the blind, and are generally used in homes, shopping malls, hospitals and other places. In these scenarios, there will be both static and dynamic obstacles, which is a challenge for guide robots. For known static obstacles, the guide robot can avoid them very well, but when the information in the environment changes, it is necessary for the guide robot to use the local planner to avoid obstacles. Partial paths need to be planned in real time, which means that the local planner is more dependent on real-time information. [0003] The artificial potential field method is a virtual force method proposed based o...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0214G05D1/0221G05D1/024G05D1/0257G05D1/0276
Inventor 孙磊魏巍李寒芳贾云辉刘天昱阎瑞鑫魏光睿
Owner TIANJIN UNIVERSITY OF TECHNOLOGY
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