Robot path planning method and system based on improved opposite parallel algorithm

Abstract

The invention discloses a robot path planning method based on an acceleration algorithm and an opposite parallel algorithm, and the method is characterized in that the method comprises the steps: obtaining environment data around a robot through a sensor of the robot, and carrying out the processing of the environment data through a grid method, so as to obtain a grid map; secant lines are selected to segment the obtained grid map into corresponding strip-shaped sub-graphs, and the shortest path between any two boundary points on the secant lines at the two ends of the sub-graphs is obtained in a parallel processing mode; starting opposite searching from the initial position and the target position along the shortest path between any two boundary points on secant lines at the two ends of each sub-graph, stopping searching once the boundary points on the same secant line are searched, and combining the two opposite paths obtained by searching to obtain the shortest path; and enabling the robot to move from the initial position to the target position along the shortest path. The technical problem that an existing serial shortest path acceleration algorithm is low in execution efficiency can be solved.

Description

technical field [0001] The invention belongs to the technical field of robot path planning, and more specifically, relates to a method and system for robot path planning based on an improved parallel parallel algorithm. Background technique [0002] The path planning algorithm has always been a key issue in the research of mobile robots in the field of practical application. Path planning refers to finding an optimal or suboptimal path that satisfies the actual goal among many non-collision paths connecting the starting point and the goal in the actual working environment. The most common optimization objectives are the shortest length, minimum collision probability, passing through specific locations, etc. [0003] The existing acceleration algorithms for the main path planning generally aim at the shortest length of the path, and are mainly divided into two types: ergodic acceleration algorithms and intelligent acceleration algorithms. The common ergodic acceleration algo...

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Problems solved by technology

[0005] In view of the above defects or improvement needs of the prior art, the present invention provides a robot path planning method and system based on an improved parallel parallel algorithm, the purpose of which is to solve the technical problem of low execution efficiency of the existing ergodic acceleration algorithm , and the existing ergodic acceleration algorithm and intelligent acceleration algorithm have poor applicability to dynamic environments, and the technical problems of high time cost, and the existing ergodic acceleration algorithm and intelligent acceleration algorithm have many obstacles in some areas and some areas have obstacles Technical issues that are not applicable when the material is small

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