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Mobile robot path planning method and device capable of adaptively adjusting path point tolerance

A mobile robot, self-adaptive adjustment technology, applied in the field of robotics and navigation, can solve the problems of decreased positioning quality and low path planning efficiency, and achieve the effect of improving efficiency

Active Publication Date: 2021-02-19
SICHUAN CHANGHONG ELECTRIC CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] In order to solve the problems existing in the prior art, the object of the present invention is to provide a mobile robot path planning method and device for adaptively adjusting the tolerance of the waypoints, and provide positioning information based on radar sensors and positioning algorithms, which is used to solve the problems of the prior art. There is a problem that the path planning efficiency is low due to the tolerance of the global planning path points being set to the same and the positioning quality deteriorating

Method used

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  • Mobile robot path planning method and device capable of adaptively adjusting path point tolerance
  • Mobile robot path planning method and device capable of adaptively adjusting path point tolerance

Examples

Experimental program
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Embodiment 1

[0034] Such as figure 1 As shown, a mobile robot path planning method for adaptively adjusting the tolerance of waypoints, including:

[0035] Step 1. According to the target point, the current position of the robot and the environment map, perform global path planning to obtain a global planning path, and the global planning path is a set of global planning path points.

[0036] The environment map is constructed based on radar sensors, including but not limited to dTOF radar or lidar. To construct an environmental map based on radar sensors, algorithms such as Gmapping, HectorSLAM, and Cartographer can be used to construct a two-dimensional grid map.

[0037] The global path planning includes, but is not limited to, A*, Dijkstra, artificial drawing, and the like.

[0038] Step 2. Start the local planner according to the set of global planning path points, and control the robot to move to the target point along the global planning path.

[0039] The local planner includes ...

Embodiment 2

[0053] Such as figure 2As shown, a mobile robot path planning device for adaptively adjusting the tolerance of waypoints, based on radar sensors, includes:

[0054] A map building block for building a map of the environment based on radar sensors;

[0055] The global path planning module is used to perform global path planning according to the target point, the current position of the robot, and the environment map to obtain a global planning path, and the global planning path is a set of global planning path points;

[0056] The local planner module is used to start the local planner according to the global planning path point set, and controls the robot to move to the target point along the global planning path; and is used to calculate the global planning path point tolerance obtained by the path point tolerance calculation module A local planning path to the next global planning waypoint, and control the robot to move to the next global planning waypoint.

[0057] The p...

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Abstract

The invention discloses a mobile robot path planning method capable of adaptively adjusting path point tolerance, which comprises the following steps of: performing global path planning according to atarget point, a current position of a robot and an environment map to obtain a global planning path of a global planning path point set; starting a local planner according to the global planning pathpoint set, and controlling the robot to move to the target point; calculating the positioning quality of the robot, and judging whether global planning path point tolerance adjustment is started or not; when global planning path point tolerance adjustment is started, calculating global planning path point tolerance according to the robot positioning quality, and inputting the global planning pathpoint tolerance into a local planner; and calculating, by the local planner, a local planning path to the next global planning path point according to the obtained global planning path point tolerance, and controlling the robot to move to the next global planning path point. The invention further discloses a mobile robot path planning device for self-adaptively adjusting path point tolerance. According to the invention, the path planning efficiency is improved on the whole.

Description

technical field [0001] The invention relates to the technical field of robots and navigation, in particular to a mobile robot path planning method and device for adaptively adjusting path point tolerances. Background technique [0002] With the rapid development of robot-related technologies, people's demand for robots is getting higher and higher, and autonomous navigation is an important function of mobile robots. Robot navigation is based on the current position of the robot, the target point and the environment map, to carry out global path planning to obtain the global path, and then control the robot to move to the target point according to the global planning path through the local planner. Whether it can reach the designated target point quickly, smoothly and accurately is an important indicator to measure the robot's navigation performance. [0003] The global planning path obtained by global path planning in robot navigation is composed of a series of global plann...

Claims

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Application Information

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IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 邵小宁刘孟红孙量
Owner SICHUAN CHANGHONG ELECTRIC CO LTD
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