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Path planning method for mobile robot

A mobile robot, path planning technology, applied in instruments, motor vehicles, non-electric variable control, etc., can solve problems such as excess energy loss and complex calculation

Active Publication Date: 2019-02-19
ANHUI UNIVERSITY OF TECHNOLOGY AND SCIENCE
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In view of the shortcomings of the prior art described above, the purpose of the present invention is to provide a path planning method for a mobile robot, which is used to solve the problems of complex calculation and excess energy loss in the moving process in the prior art, and effectively improves the mobility of the mobile robot. exercise efficiency

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  • Path planning method for mobile robot
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  • Path planning method for mobile robot

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Embodiment Construction

[0073] Below with reference to the accompanying drawings, the specific embodiments of the present invention, such as the shape, structure, mutual position and connection relationship between each part, the role and working principle of each part, etc. will be further described in detail:

[0074] It should be noted that the diagrams provided in the following embodiments are only schematically illustrating the basic ideas of the present invention, and only the components related to the present invention are shown in the diagrams rather than the number, shape and shape of the components in actual implementation. Dimensional drawing, the type, quantity and proportion of each component can be changed arbitrarily during actual implementation, and the component layout type may also be more complicated.

[0075] Such as figure 1 As shown, this embodiment provides a path planning method for a mobile robot, including the following steps:

[0076] S1. Initialize the mobile state of the...

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Abstract

The invention discloses a path planning method for a mobile robot, comprising the following steps of: initializing the moving state of the mobile robot; constructing an elastic particle model; planning the motion state of the mobile robot under the elastic particle model; and calculating the real-time cumulative energy consumption and the complexity of the mobile robot. According to the path planning method for the mobile robot, the interaction force between the mobile robot and an obstacle is taken into consideration, so that the interaction with a distant object is avoided, and the mobile robot does not fall into a local equilibrium position, is high in initiative, and can be applied to any target position; meanwhile, the energy consumption of the mobile robot is effectively reduced, andthe path planning of the mobile robot is facilitated; and by means of the elastic particle model, the complexity of the real-time calculation of the path planning is effectively reduced, the moving path is shortened, and the energy consumption of the mobile robot is saved.

Description

technical field [0001] The invention belongs to the technical field of robot artificial intelligence, and in particular relates to a path planning method for a mobile robot. Background technique [0002] Mobile robots are widely used in various fields, such as path detection, image acquisition, obstacle detection, home service, etc. In these applications, path planning is the most basic and important part of the mobile robot control system, and has always been a research hotspot in the field of mobile robots. In many physical scenarios, mobile robots are equipped with computing and storage capabilities and limited power sources. Therefore, the main goal of path planning is to find an effective path from the initial position to the target position of the mobile robot from the perspective of minimum energy consumption, so as to ensure the safety of the mobile robot in the obstacle environment. [0003] With the continuous development of artificial intelligence technology, ma...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0238
Inventor 许钢邢广鑫江娟娟俞晓峰袁子琪
Owner ANHUI UNIVERSITY OF TECHNOLOGY AND SCIENCE
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