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Mobile robot planning method based on visibility graph guidance

A mobile robot, view technology, applied in the field of robotics to achieve the effect of improving efficiency, reducing blindness, and improving quality

Active Publication Date: 2019-12-24
SUN YAT SEN UNIV
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  • Application Information

AI Technical Summary

Problems solved by technology

In the field of mobile robots, path planning has always been a key technology in robot autonomous navigation. However, the complex external environment and real-time computing requirements pose high challenges to the path planning algorithm of mobile robots.

Method used

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  • Mobile robot planning method based on visibility graph guidance

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Embodiment 1

[0043] like figure 1 As shown, a visual graph-guided planning method for mobile robots, including visual graph-guided domain generation, improved Rapidly Extended Random Tree (RRT), and path optimization;

[0044] The generation of the visual map guide field is based on the visual map method to model the obstacle environment, and then obtain the reference path from the starting point to the end point through the shortest path search method, and then generate the reference area, that is, the view guide field;

[0045] The improved fast-extending random tree is based on the fast-extending random tree programming method. Firstly, the unmanned vehicle planning motion model is established, and the sampling points are randomly obtained first, and the sampling point and the nearest node in the random tree are determined by the 8-neighborhood nearest neighbor node method. , and then judge whether the new node is inserted into the random tree according to the motion model of the unmann...

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Abstract

The invention relates to the technical field of robots, and more particularly relates to a mobile robot planning method based on visibility graph guidance. A planning guidance area is established by using a visibility graph method to limit the expansion of a rapid random expansion tree (RTT), a generation shape of a random tree is constrained by establishing a vehicle kinematic model, meanwhile the generation of the random tree is accelerated by using a 8 nearest neighbor node search method, after the random tree is obtained, a path conforming to a mobile robot motion law is obtained by calculation, and finally, the path is optimized to improve the quality of the path. In the traditional fast random expansion tree planning algorithm, the planned path cannot meet the kinematic constraints of a wheeled robot, and meanwhile, as the structure of the random tree becomes larger, the generation efficiency of the random tree is low. Therefore, kinematic modeling is performed on an unmanned vehicle, and then the random tree conforming to the kinematic model of the unmanned vehicle is obtained within a short time in combination with the 8 nearest neighbor node search method, and an optimal path from a starting point to an end point is obtained through path optimization.

Description

technical field [0001] The invention relates to the technical field of robots, and more specifically, to a planning method for a mobile robot guided by a visual map. Background technique [0002] Mobile robots are of great scientific research value because of their ability to replace humans in dangerous and repetitive tasks. In the field of mobile robots, path planning has always been a key technology in robot autonomous navigation. However, the complex external environment and real-time computing requirements pose high challenges to the path planning algorithm of mobile robots. A path planning method for mobile robots should be able to cope with complex and changeable environments and respond to diverse decision-making requirements. A path planning method for mobile robots is proposed. Contents of the invention [0003] In order to overcome the above-mentioned defects in the prior art, the present invention provides a mobile robot planning method based on visual map guid...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0223G05D1/0221G05D1/0276Y02T10/40
Inventor 单云霄邓毅悫陈龙
Owner SUN YAT SEN UNIV
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