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A* algorithm-based incremental path planning method and A* algorithm-based incremental path planning system for companion robot

An incremental path and robot technology, applied in the field of accompanying robots, can solve the problems of wasting energy consumption of accompanying robots, slow response speed of robots, and inability to adjust routes in time, so as to avoid algorithm operation, save time, and save energy.

Active Publication Date: 2018-12-21
山东鹰雁科技有限公司
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  • Description
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Problems solved by technology

[0006] For the accompanying robot, since the accompanying robot needs to follow the owner to walk; the environmental information detected by it will be updated in real time as the position of the accompanying robot changes, which leads to the fact that the starting point and target point of the path planning are no longer fixed geographical coordinates, so The above-mentioned algorithms are not suitable for the application environment of accompanying robots. According to the inventor’s understanding, the existing path planning algorithms for accompanying robots are relatively wasteful of time and energy consumption of accompanying robots, and the long running time of the algorithms leads to slow response of the robot. After the path planning encounters new moving obstacles, the route cannot be adjusted in time; for this reason, it is necessary to design a fast and effective path planning algorithm to improve the adaptability of the companion robot in complex environments

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  • A* algorithm-based incremental path planning method and A* algorithm-based incremental path planning system for companion robot

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[0051] It should be pointed out that the following detailed description is exemplary and intended to provide further explanation to the present application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

[0052] It should be noted that the terminology used here is only for describing specific implementations, and is not intended to limit the exemplary implementations according to the present application. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural, and it should also be understood that when the terms "comprising" and / or "comprising" are used in this specification, they mean There are features, steps, operations, means, components and / or combinations thereof.

[0053] When the accompanying robot is running in a complex environment, the positions of the robot and the targe...

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Abstract

The invention discloses an A* algorithm-based incremental path planning method and an A* algorithm-based incremental path planning system for a companion robot. The method comprises the following steps: a step of construction of an environment map: constructing a two-dimensional occupied grid map according to an actual scene, and marking each grid as an obstacle area or a feasible area; and a stepof initialization of the companion robot and a movable target point: setting initial coordinate positions of the companion robot and the movable target point in the grid map; establishing a sliding window for the robot; and planning the path of the companion robot based on the A* algorithm and the incremental path planning method. By adopting a path of the last time for incremental path update, the method and system can save the path planning time, improve the response speed of the companion robot, and avoid new obstacles in time.

Description

technical field [0001] The invention relates to the field of accompanying robots, in particular to an incremental path planning method and system for accompanying robots based on the A* algorithm. Background technique [0002] Accompanying walking is a typical human-machine cooperation method for mobile robots. It can not only relieve the tedious operation burden brought by remote control robots, but also give full play to the flexibility and adaptability of mobile robots in complex environments. Therefore, the accompanying walking of mobile robots is studied. The function has strong practical significance. [0003] At present, many patent documents have carried out research on accompanying walking robots. However, the focus is often on how the robot recognizes the target, but there is little research on the key link in the following walking process - path planning. The path planning method commonly used in the field of robotics today is a grid-based path planning algorithm...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 李彬张慧李贻斌荣学文刘斌
Owner 山东鹰雁科技有限公司
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