Mobile robot obstacle avoidance path planning method

Abstract

The invention belongs to the field of local navigation of robots and intelligent vehicles. According to the specific technical scheme, the obstacle avoidance path planning method for the mobile robot comprises the following specific steps: 1, constructing a grid environment map based on working environment information acquired by a vehicle-mounted external sensor laser radar of the mobile robot; 2, calculating gravitation borne by the robot, an included angle between the gravitation and the horizontal direction, repulsive force and an included angle between the repulsive force and the horizontal direction by improving gravitation and repulsive force field functions; 3, calculating resultant force borne by the robot and an included angle between the resultant force and the horizontal direction; 4, calculating and storing the next position of the robot; 5, enabling the robot to move to the next position from the current position, and adding the corresponding step length every time the robot operates by one step; 6, judging whether the robot reaches a specified target point or not, and ending if the robot reaches the target point, if not, returning to the step 2. According to the method, the original potential field function is corrected to ensure that the robot reaches the specified target position, and robot path planning is realized.

Description

technical field [0001] The invention belongs to the field of local navigation of robots and intelligent vehicles, and in particular relates to an obstacle avoidance path planning method for a mobile robot based on the combination of an improved artificial potential field method and a dynamic window method. Background technique [0002] With the development of science and technology, the application of mobile robots involves all walks of life. Mobile robots involve multiple theories such as multi-sensor information fusion, computer and communication technology, and automatic control, and integrate the disciplines of mechanics, electronics, computers, automation, and artificial intelligence. Autonomous navigation is the key technology for mobile robots to realize intelligence, and path planning is the basic part of autonomous navigation. Path planning means that the robot can avoid obstacles in the process of reaching the designated target point starting from the current posit...

AI Technical Summary

Problems solved by technology

[0004] In order to solve the problem that the artificial potential field method in the prior art will cause the intelligent robot to fall into a local minimum or fail to reach the designated target point, the present invention discloses an obstacle avoidance method based on the combination of the improved traditional artificial potential field method and the dynamic window method. Path planning method, and due to the complexity of local conditions in actual path planning, the dynamic window method is introduced for local path planning to ensure that intelligent robots can make timely and accurate obstacle avoidance actions

There may be dynamic obstacles in the actual working environment, and its local environment information may be relatively complex, so the dynamic window method is combined to solve the local path problem in the path planning process

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