Robust planning method for robot path based on uncertainty of monocular camera ranging

A robotic and robust technology, applied in the direction of instruments, two-dimensional position/course control, vehicle position/route/altitude control, etc., can solve the problems of reducing the size of the attraction field and slow calculation of the attraction field, so as to reduce the impact, Good obstacle avoidance function, strong feasibility effect

Active Publication Date: 2022-07-15
CHANGSHA UNIVERSITY OF SCIENCE AND TECHNOLOGY
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Problems solved by technology

[0006] The invention patent with application number 201710019066.9 discloses a feedback path planning method in the presence of measurement uncertainty. By considering the influence of measurement uncertainty on the feedback field of attraction, the Pondriakin set difference is used to narrow the field of attraction. size, re-evaluate the problem of safe obstacle avoidance in the path planning process, and use the GP algorithm to estimate the size of the attraction domain online to overcome the defect of slow calculation of the attraction domain

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  • Robust planning method for robot path based on uncertainty of monocular camera ranging
  • Robust planning method for robot path based on uncertainty of monocular camera ranging
  • Robust planning method for robot path based on uncertainty of monocular camera ranging

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[0033] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0034] like figure 2 , image 3 As shown, the environment model of path planning is a two-dimensional plane square, and the obstacles are static obstacles, which can be described according to the actual scene; the overall flow chart of path planning is as follows figure 1 shown.

[0035] A robot path robust planning method based on the uncertainty of monocular camera ranging, including the following steps:

[0036] The first step is to establish a map model: the path planning calculation domain is a pixel rectangle of 300*500, and the distance between two adjacent pixels represents a physical distance of 1CM, so the area of ​​the environment map is 300CM*500CM. On the basis of the environment model, connect the starting point of the path and the target point, and divide 11 vertical lines perpendicular to the connecting line at 40CM in the direction of...

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Abstract

The invention discloses a robot path robust planning method based on the uncertainty of monocular camera ranging. The path is divided at equal intervals in the line direction to form a complete path; the second step is to build the uncertainty optimization model with the shortest path length as the objective function and the constraint of not colliding with obstacles; the third step is for path planning The uncertain optimization model establishes a brightness function, and based on the brightness function, the firefly intelligent algorithm is used to solve the path planning problem, and the optimal path is output. The invention establishes a brightness function for the uncertain optimization model of path planning, and considers two indexes of path length and path safety, so that the method not only has a good obstacle avoidance function but also can plan a shorter path.

Description

technical field [0001] The invention relates to a robot path planning method, in particular to a robot path robust planning method based on a monocular camera with uncertain ranging. Background technique [0002] Path planning refers to finding the most reasonable and efficient obstacle avoidance path from the starting point to the target point in an environment with distributed obstacles. Path planning is one of the key technologies in mobile robot navigation. Existing path planning methods are divided into classical path planning and intelligent path planning. Classical path planning such as artificial potential field method, probability map method and fast search random tree method, etc. locked in local minima. In the presence of multiple obstacles or dynamic environments, some of them may not provide a suitable solution. [0003] Therefore, classical path planning has been gradually replaced by intelligent path planning. The existing intelligent path planning algorith...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0214G05D1/0217G05D1/0231
Inventor 李凤玲范兴江胡宏伟易可夫
Owner CHANGSHA UNIVERSITY OF SCIENCE AND TECHNOLOGY
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