Path Planning Method for Agent Based on Straight-line Deviation Method

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

Active Publication Date: 2021-09-17
NORTHEAST FORESTRY UNIVERSITY
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  • Summary
  • Abstract
  • 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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  • Path Planning Method for Agent Based on Straight-line Deviation Method
  • Path Planning Method for Agent Based on Straight-line Deviation Method
  • Path Planning Method for Agent Based on Straight-line Deviation Method

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specific Embodiment approach 1

[0039] The agent path planning method based on the straight line deviation method includes the following steps:

[0040] 1. Establish an environment model, that is, establish a proportionally reduced model according to the actual environment, and establish a corresponding coordinate system;

[0041] In order to realize and verify the straight line deviation strategy, the present invention makes the following assumptions when modeling the environment in the robot motion space:

[0042] (a) The mobile robot moves in a two-dimensional limited space;

[0043] (b) There are a finite number of known static obstacles distributed in the robot motion space. The obstacles can be described by polygons and the height information of the obstacles can be ignored, and only the (x, y) plane can be used to describe them;

[0044] (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 expansion size is 1 / 2 of the maximum...

Embodiment

[0098] 1. Use the present invention to carry out simulation experiments

[0099] 1. Environment topology implementation

[0100] First of all, this experiment simulates the static global working environment of the intelligent mobile robot, and projects it in the rectangular coordinate system in equal proportion, and marks the coordinates of each node and the connection between the nodes, such as figure 1 shown.

[0101] The experiment hopes that such an optimal route can be achieved in a simpler working environment roadmap, so that it can be easily generalized to a more complex working environment.

[0102] 2. Node addition implementation based on route adjustment

[0103] Depend on figure 1 It can be clearly seen that the number of routes that the mobile robot can reach is large and complex. If this is the experimental basis, the amount of calculation and the complexity of the process will increase. Therefore, according to the rules added to the nodes, some nodes and route...

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Abstract

The invention relates to an agent path planning method based on a straight line deviation method, relates to an agent path planning method, and belongs to the field of artificial intelligence research. The present invention aims to solve the problem of high computational time complexity existing in 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. The present invention first establishes a proportionally reduced model according to the actual environment, and establishes a coordinate system correspondingly; then adds intelligent nodes, deletes routes that have nothing to do with the added nodes, performs modeling based on straight line deviation, screens according to the deviation angle, and finally searches The route node determines the best route that is eventually found. It is mainly used for path planning of agents.

Description

technical field [0001] The present invention relates to an agent path planning method. It belongs to the field of artificial intelligence research. Background technique [0002] As early as the 1960s, Shakey, an autonomous mobile robot developed by Stanford University, could 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 of mobile human robots has reached a new climax; after entering the 1990s, with the rapid development of technology, intelligent mobile robots are moving towards practical, serialization and real-time. [0003] In the known environment, many existing methods can carry out path planning so that the robot can reach the target point without collision; among them, in the algorithm of searching for the optimal path, the global path planning is classified according to the search algo...

Claims

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Application Information

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Patent Type & Authority Patents(China)
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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