65results about How to "Improve path planning efficiency" patented technology

The embodiment of the invention provides a biped robot path planning method and device and a biped robot, and the method comprises the steps: generating a candidate node set of a next foothold through the parameters of the biped robot and the joint movement information of a current node, adding effective candidate nodes in the candidate node set to the priority queue to select optimal nodes to achieve expansion of the next node, wherein the output optimal nodes generate a foothold sequence from the initial node to the target node so that the path node search amount of the biped robot during double-leg crossed landing can be greatly reduced; and thus the path planning efficiency is improved.

The invention discloses a high-usability high-reliability and high-efficiency fire evacuation indicating system and a method. The system adopts a three-layer system structure formed by an evacuation indicating control host machine, passageway evacuation indicating control sub machines and passageway detection / indicating devices, wherein the passageway evacuation indicating control sub machines are positioned at stairs of each floor, each unit of the system exchanges information through an element interconnect bus (EIB), and the passageway detection / evacuation indicating devices are directly embedded into the control sub machines. Wireless backup communication is additionally added between the host machine and the sub machines (the passageway detection / evacuation indicating devices), and the integral reliability and the usability of the system are enhanced. The secondary threshold warning strategy of a composite fire hazard detector is adopted, a corresponding information processing method is used as an auxiliary measure, in addition, evacuation paths are continuously regulated according to the real-time fire conditions, the goals of shortening the warning time and reducing the mistake warning rate are reached, and the usability of the evacuation indicating system is further improved. The space positions of the detection / indicating devices are shown according to the floors on the basis of the three-dimensional geographical characteristics of the tall building evacuation paths, the building typical evacuation structure and the Dijkstra algorithm with an improved data structure are adopted, and the route planning efficiency of the escape route is improved.

The invention discloses a path programming method and apparatus. The method comprises the following steps: rising a current map layer if a distance between a current search position and a path end point position is greater than or equal to a first distance threshold, and searching a path from the current search position to the path end point position according to navigation data corresponding to the risen map layer; searching a path from the current search position to the path end point position according to navigation data corresponding to the current map layer if a distance between the current search position and the path end point position is less than the first distance threshold and is greater than or equal to a second distance threshold; and lowering the current map layer if a distance between the current search position and the path end point position is less than the second distance threshold, searching a path from the current search position to the path end point position according to navigation data corresponding to the lowered map layer if the lowered map layer is a lowest map layer, and searching a path from the current search position to the path end point position according to the navigation data corresponding to the lowered map layer if the lowered map layer is not the lowest map layer.

The invention discloses a dynamic path planning method for a robot combined with an A* algorithm and a VFH obstacle avoidance algorithm. The environment in which the robot is located is expressed as a grid map, and a global initial path is searched out in the grid map by using the A* algorithm; The robot moves to the target point along the initial path, and judges whether it encounters an obstacle, and uses the VFH algorithm to avoid obstacles, otherwise it continues to move to the target point; when avoiding obstacles, first set the stage target point along the initial path, and generate the current The obstacle avoidance path between the position and the stage target point is moved forward one step, and the current position is updated to determine whether there is any occlusion between the robot's current position and the stage target point. If there is, recalculate the obstacle avoidance path. Step forward to the target point of the stage, and cycle until the robot reaches the target point of the stage and returns to the initial path to continue moving towards the end point. The combination of the two algorithms improves the efficiency of robot path planning and ensures the autonomous navigation ability of the robot in indoor dynamic environments.