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Global path planning method

A technology of global path planning and global planning, applied in the field of robotics, can solve the problems of many turning points and difficult to control the robot, and achieve the effect of less turning points, convenient and accurate motion control, and high computing efficiency.

Inactive Publication Date: 2019-05-24
南京达特智能科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] Aiming at the problem that there are many turning points in the path planning of the robot in the prior art and it is not easy to control the robot, the present invention provides a method for global path planning

Method used

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Embodiment 1

[0046] Such as figure 1 As shown, in order to overcome the deficiencies in the prior art, the present invention proposes a method for global path planning, including the following steps:

[0047] Positioning: Obtain the initial pose of the robot according to the control information of the robot pose and the odometer, that is, the robot accurately calculates its own pose information through the observed environmental information and combined with its own known state;

[0048] Create a priori map: Create a two-dimensional grid map through the initial pose and the observation data of the sensors carried by the robot itself. Preferably, each basic unit in the two-dimensional grid map has three states, namely: occupied, idle and Unknown, the way to know the robot’s navigation is based on the way the grid is occupied. The corresponding way is as follows: the grid occupancy state corresponds to an obstacle at this point on the map, and the robot cannot touch it during path planning; ...

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Abstract

The invention belongs to the technical field of robots and discloses a global path planning method. Aiming at the problem of difficulty in robot control due to large quantity of turning points in robot path planning in the prior art, the global path planning method is provided and includes steps: adding an angle constraint function a(n) in an original A* algorithm cost function, completing first stage searching in global path planning through the improved A* algorithm cost function to work out a robot movement angle constrained preliminary global path, wherein n refers to a current node of a robot state; extracting a result of the first stage searching, performing second stage searching, rejecting redundancy turn points in the path to obtain a final global path according with a robot kinematic principle. By adding of the angle constraint function and adoption of two-stage searching to plan the global path according with the robot kinematic principle, the turn points in the path are sharply reduced, and the smooth and short global path is achieved under the condition of guarantee of timeliness.

Description

technical field [0001] The invention belongs to the technical field of robots, and more specifically relates to a method for global path planning. Background technique [0002] Robot is the embodiment of the high development and integration of modern artificial intelligence and automation technology. It condenses the achievements of many disciplines and technologies such as control engineering technology, computer technology, sensor technology, signal processing, and mechanical manufacturing. With the advancement and development of related technologies, robot technology has become increasingly mature, and robots have penetrated into various application fields. As a manifestation of high intelligence, people also require robots to have higher autonomy, with the capabilities of perception, processing, decision-making, and execution, such as: autonomous path planning in known or unknown dynamic space environments. [0003] Full path planning refers to the robot finding an opti...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/34
Inventor 王朋朋蒋超曹蒙贺海波李丹赵卫东
Owner 南京达特智能科技有限公司
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