Mobile robot path planning method based on distance judgment and angle deflection

Abstract

The invention provides a mobile robot path planning method based on distance judgment and angle deflection. The method comprises the following steps: step 1, a global grid map constructed by using anSLAM mapping algorithm is taken as priori information, global path planning is performed to obtain a pre-planned path, and if the environment of the static environment is not changed, a mobile robot moves according to the pre-planned path; and step 2, when the environment is changed, i.e., an obstacle appears on the pre-planned path, the mobile robot acquires distance information and obstacle angle range information according to information scanned by laser radar, and is guided to deflect and move, so that the purpose of returning to the global pre-planned path is achieved, and the navigationof the robot in a dynamic environment is further realized. According to the method, obstacle distance information and angle range information are obtained through an existing sensor of the robot, triangle solving is conducted to calculate an obstacle avoidance track, the calculated amount of the robot is reduced, the real-time performance of robot movement is enhanced, and the moving efficiency ofthe robot is improved.

Description

technical field [0001] The invention relates to a path planning method for a mobile robot based on distance judgment and angle deflection, and belongs to the field of path planning for mobile robots. Background technique [0002] Path planning is one of the key technologies in the field of mobile robots. To a certain extent, it marks the level of intelligence of mobile robots. It refers to searching for an optimal path from the starting point to the target point in an obstacle environment based on various indicators. No collision path. Path planning itself can be divided into global path planning and local path planning. Global path planning is to plan a path for the robot in a known environment. The accuracy of path planning depends on the accuracy of environment acquisition. Global path planning can find the optimal solution, but it needs to know the accurate information of the environment in advance. If there are unknown obstacles, the effect of global planning will be ...

AI Technical Summary

Problems solved by technology

[0004] The local path planner DWA mainly samples multiple sets of speeds according to the robot's own speed limit and the speed performance range (V, W) of the robot motor, and simulates the trajectory of the robot at these speeds. According to the azimuth, distance from obstacles, speed, Set the evaluation function for the degree of smoothness, and then evaluate these trajectories one by one. The calculation amount is large and the real-time performance is low, which seriously affects the efficiency of the robot.

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