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Linear deviation degree method-based intelligent path planning method

A path planning and deviation degree technology, applied in the field of artificial intelligence research, can solve problems such as high computational time complexity, poor work efficiency and real-time performance, and achieve low computational time complexity, short planning time, and good real-time performance Effect

Active Publication Date: 2019-09-13
NORTHEAST FORESTRY UNIVERSITY
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  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The present invention aims to solve the problem of high computational time complexity of the existing graph search algorithms in a complex environment and the problem of poor work efficiency and real-time performance of the global path planning problem of a mobile robot in a known environment

Method used

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  • Linear deviation degree method-based intelligent path planning method
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  • Linear deviation degree method-based intelligent path planning method

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specific Embodiment approach 1

[0040] The intelligent body path planning method based on the straight line deviation method includes the following steps:

[0041] 1. Establish an environmental model, that is, establish a scaled-down model according to the actual environment, and establish a coordinate system correspondingly;

[0042] In order to realize and verify the straight-line deviation strategy, the present invention makes the following assumptions when carrying out environmental modeling in the robot motion space:

[0043] (a) The mobile robot moves in a two-dimensional limited space;

[0044] (b) There are a limited number of known static obstacles distributed in the robot's motion space. The obstacles can be described by polygons and the height information of the obstacles can be ignored, only described by the (x, y) plane;

[0045] (c) In order to ensure that the path is not too close to the obstacle, the boundary of the obstacle is expanded outward, and the expanded size is 1 / 2 of the maximum si...

Embodiment

[0099] One, utilize the present invention to carry out simulation experiment

[0100] 1. Realization of environment topology

[0101] First of all, this experiment simulates the static global working environment of the intelligent mobile robot, and projects it into the Cartesian coordinate system in equal proportions, and marks the coordinates of each node and the connection lines between each node, as shown in figure 1 shown.

[0102] The experiment hopes that such an optimal route can be achieved in a simpler working environment roadmap, so that it can be extended to a more complex working environment.

[0103] 2. Implementation of node addition based on route adjustment

[0104] Depend on figure 1 It can be clearly seen that the number of routes that mobile robots can reach is large and complex. If this is used as the basis for the experiment, the amount of calculation and the complexity of the process will increase. Therefore, according to the node addition rules, some ...

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Abstract

The invention discloses a linear deviation degree method-based agent path planning method, relates to an agent path planning method, belongs to the field of artificial intelligent researches, and aimsat solving the problems that the existing graph search type algorithms are high in calculation time complexity under complicated environments and the global path planning of the mobile robots is lowin working efficiency and instantaneity in known environments. According to the method, a model which is scaled down at a same proportion is established according to a practical environment and a coordinate system is correspondingly established; and intelligent nodes are added, paths unrelated to the added nodes are deleted, modeling is carried out on the basis of a linear deviation degree, screening is carried out according to a deviation angle, and finally a path node is searched to determine a finally found optimal path. The method is mainly used for the path planning of agents.

Description

technical field [0001] The invention relates to an intelligent body path planning method. It belongs to the field of artificial intelligence research. Background technique [0002] As early as the 1960s, the autonomous mobile robot Shakey developed by the Stanford University Research Institute can perform functions such as object recognition, autonomous reasoning, path planning and control in complex environments; in the 1970s, with the development and application of computer technology and sensor technology , the research on mobile human robots has a new climax; after entering the 1990s, with the rapid development of technology, intelligent mobile robots are moving towards practicality, serialization and real-time. [0003] In a known environment, many existing methods can carry out path planning to enable the robot to reach the destination point without collision; among them, in terms of the algorithm for searching the optimal path, the global path planning is classified ...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0214G05D1/0221G05D1/0276
Inventor 刘美玲金楠森谷欣然
Owner NORTHEAST FORESTRY UNIVERSITY
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