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A method for real-time planning of obstacle avoidance path for omnidirectional mobile robot based on grid method

A mobile robot and omnidirectional mobile technology, which is applied in the direction of instruments, motor vehicles, non-electric variable control, etc., can solve the problems of seldom considering the whole process of engineering practice, inaccessibility near obstacles, lack of ride comfort, etc., to achieve saving The effect of removing dynamic solution, reducing path length, good real-time and fault tolerance

Active Publication Date: 2022-06-28
SHANGHAI UNIV OF ENG SCI
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AI Technical Summary

Problems solved by technology

The grid method divides the entire map into grid units of a certain density, and finds the target point through grid search. When this method is directly applied without considering the shape characteristics of the robot and obstacles, the planned route is more tortuous and lacks smoothness.
The artificial potential field method is a simple and easy-to-implement obstacle avoidance method. The basic idea is that the robot is attracted by the target point and repelled by obstacles. The path planned by the artificial potential field method is relatively smooth and safe, but there are obstacles near obstacles. Problems such as unreachability and local minima
[0004] There are endless literatures on robot obstacle avoidance path planning based on potential field method, but few consider the whole process of engineering practice

Method used

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  • A method for real-time planning of obstacle avoidance path for omnidirectional mobile robot based on grid method
  • A method for real-time planning of obstacle avoidance path for omnidirectional mobile robot based on grid method
  • A method for real-time planning of obstacle avoidance path for omnidirectional mobile robot based on grid method

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Embodiment 1

[0078] In this embodiment, within a working range of 50m*50m, the grid is divided by a density of 500*500, and tests are carried out for different obstacle conditions. The specific test steps are shown in S1-S7.

[0079] The test conditions, initial value settings, and final test results of this embodiment are as follows:

[0080] 1) Test conditions (specific parameter selection):

[0081] Robot size: 0.1m*0.1m;

[0082] Obstacle size: according to the actual obstacle shape;

[0083] Attractive potential and repulsive potential influence scaling factor: 300000;

[0084] Degree of attraction and repulsion: 3;

[0085] Minimum safe distance of obstacles: 0.5m;

[0086] The maximum speed of the robot: 0.1m / s;

[0087] The maximum output angular velocity of the robot: pi / 18rad / s;

[0088] The maximum speed increment of the robot: 0.1m2 / s;

[0089] The minimum speed increment of the robot: 0.005m2 / s;

[0090]2) Initial value setting:

[0091] Robot initial position coordin...

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Abstract

The invention discloses a method for realizing real-time planning of an omnidirectional mobile robot obstacle avoidance path based on a grid method, comprising the following steps: S1, establishing a coordinate system; S2, constructing a map with a grid method and performing binarization processing on the grid; S3. Carry out obstacle grid search; S4. Calculate the distance d between the current mobile robot center point position f(t) and the target point g (t) and angle θ g (t); S5, according to the distance relation, provide the speed increment to the robot through the speed increment function; S6, obtain the real-time trajectory curve of the mobile robot passing through the obstacle, and obtain the position and direction of the mobile robot at the next moment; S7, judge whether the robot arrives If the target point is reached, the search stops and the calculation ends; if the target point is not reached, steps S3-S6 are repeated. The method of the invention absorbs the advantages of the potential field method and the grid method, realizes the real-time planning of the obstacle avoidance path, improves the calculation efficiency, effectively reduces the path length, and is suitable for engineering practice.

Description

technical field [0001] The invention relates to a method for realizing real-time planning of an obstacle avoidance path of an omnidirectional mobile robot based on a grid method, and belongs to the technical field of obstacle avoidance path planning. Background technique [0002] Mobile robots are an important support for the realization of intelligent manufacturing. Whether it is dealing with complex and heavy equipment handling tasks or the explosive growth of logistics and express sorting tasks, mobile robots rely on efficient digital management to respond quickly and move accurately, greatly reducing the industrial site's dependence on labor, extremely high the intelligence level of the enterprise. At present, mobile robots have played a role in all aspects of production and life such as logistics and warehousing, exploration and rescue, agricultural production, and entertainment services due to their excellent mobile performance. The complex working environment puts f...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0214G05D1/0223G05D2201/0217
Inventor 张爱华杨凌耀张海峰宋季强
Owner SHANGHAI UNIV OF ENG SCI
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