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Robot path planning method and system based on topology map

A path planning and topology map technology, applied in control/regulation systems, instruments, vehicles, etc., can solve problems such as increasing the complexity of the algorithm, limiting the search space, etc., to avoid the effect of expressing too high time and space complexity

Pending Publication Date: 2018-10-16
XIANGTAN UNIV
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  • Claims
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Problems solved by technology

The invention patent with the patent number CN107065876A, based on the improved particle swarm optimization mobile robot path planning method, adopts the method of multi-objective weighted summation into

Method used

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  • Robot path planning method and system based on topology map
  • Robot path planning method and system based on topology map
  • Robot path planning method and system based on topology map

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specific Embodiment 1

[0073] figure 1 It is a flowchart of a robot path planning method based on a topology map according to an embodiment of the present invention. Such as figure 1 Shown, a kind of robot path planning method based on topological map, described method comprises:

[0074] Step 101: Obtain a scatter diagram, and set the initial movement point and target point of the robot in the scatter diagram, the scatter diagram is abstracted from the actual environment containing obstacle nodes;

[0075] Step 102: Constructing a Voronoi diagram corresponding to the scatter diagram according to the scatter diagram;

[0076] Specifically comprising, sequentially connecting the three closest obstacle nodes in the scatter diagram to obtain a plurality of triangles, the circumcircle of the triangles does not contain other obstacle nodes, and each of the triangles forms a triangular network;

[0077] A vertical line is drawn for each side of the triangular network to obtain a grid diagram formed by ...

specific Embodiment 2

[0125] Step 1: System initialization. The actual environment containing obstacles is abstracted into a scatter diagram, and the generated scatter diagram is as follows image 3 shown. Among them, the obstacle points are respectively marked as 1, 2, 3..11, 12, the starting point of the robot is marked as S, and the end point of the robot is marked as E.

[0126] Step 2: Build image 3 The Voronoi diagram corresponding to the scatter diagram in the middle, specifically includes:

[0127] ① Connect sequentially image 3 The three closest obstacle points in the scatter diagram require that the triangle obtained each time does not contain other obstacle points in its circumscribed circle, thus obtaining the Delaunay triangulation, such as Figure 4 shown by the black line.

[0128] ② Draw a vertical line for each side of the constructed Delaunay triangulation, and the grid formed by the intersection of all the vertical lines is a Voronoi diagram, as shown in Figure 4 shown b...

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Abstract

The invention discloses a robot path planning method and system based on a topology map. The method includes the steps of acquiring a scatter diagram, and setting an initial motion point and a targetpoint of a robot in the scatter diagram, wherein the scatter diagram is abstracted from an actual environment including obstacle nodes; according to the scatter diagram, constructing a voronoi diagramcorresponding to the scatter diagram; calculating a travel cost of each side in the voronoi diagram; according to the travel cost, using an improved Dijkstra algorithm for obtaining several paths; according to a particle swarm algorithm, determining the shortest path from the paths. By adopting the method or system, the disadvantages that objective function weight assignment is empirical and thesearch space is incomplete can be avoided.

Description

technical field [0001] The invention relates to the field of robot path planning, in particular to a method and system for robot path planning based on topological maps. Background technique [0002] Path planning technology is one of the core contents of robot research, and robot positioning and environment map construction serve path planning. The so-called robot path planning technology is that the robot plans a safe running route by itself according to the perception of the environment by its own sensors, and at the same time efficiently completes the task. Usually, the path planning of a mobile robot needs to solve three problems: enable the robot to move from the initial position to the target position; use a certain algorithm to avoid obstacles; and optimize the trajectory of the robot as much as possible on the premise of completing the above tasks. The invention patent with the patent number CN107368077A is a robot path planning method based on the genetic-ant colo...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0214G05D1/0221G05D1/0223G05D1/0276G05D2201/02
Inventor 邹娟高宏志刘尧肖思慧王求真郑金华杨圣祥
Owner XIANGTAN UNIV
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