Mobile Robot local paths planning method on the basis of binary environmental information

Abstract

The process of programming local path of mobile robot based on binary environmental information includes the following steps: 1. calculating the coordinates of the target point in the local path programming coordinate system; 2. calculating the default path without barrier; 3. initializing the intermediate variables; 4. obtaining binary environmental information description based on the output of the sensor and classifying the barriers; 5. selecting current optimal arc section; 6. calculating the relative position relation between carriers and the current optimal arc section, and re-classifying the barriers; 7. renewing the right and left barrier bypassing arc sections, and backing to the step 4 for the next loop; and 8. outputting the local path programming results. The present invention is simple and high in efficiency, and can meet the real-time programming requirement for continuous walking of mobile robot.

Description

technical field

[0001] The invention relates to a local path planning method, which is suitable for the local path planning of a class of wheeled walking mobile robots. Background technique

[0002] The task of path planning for a mobile robot is to find an appropriate movement path from a given starting point to an end point in a working environment with obstacles, so that the robot can bypass all obstacles safely and without collision during the movement. The path planning of the mobile robot mainly solves three problems: (1) enable the robot to move from the initial point to the target point; (2) use a certain algorithm to enable the robot to avoid obstacles and pass through certain points; (3) On the premise of completing the above tasks, try to optimize the trajectory of the robot.

[0003] According to the working environment, the path planning model can be divided into two types: model-based global path planning, where all the information of the operating environment...

Examples

Embodiment Construction

[0039] During the autonomous walking process of the mobile robot, the local path planning method needs to be executed at regular intervals, that is, the present invention generates the current local optimal path and provides it to the navigation and control system.

[0040] The execution period of the process of the local path planning method of the present invention can be divided into two modes: fixed-period execution and variable-period execution. The frequency of the local path planning process is high when the fixed cycle is executed, and the primary goal is to obtain environmental information as accurately as possible and reduce misjudgment; when the variable cycle is executed, the frequency of the local path planning process changes dynamically, and the primary goal is to successfully avoid known obstacles. Different forms can be selected according to different application objects. If the environmental information perceived by the sensor is not accurate enough (for exam...

technical field

[0001] The invention relates to a local path planning method, which is suitable for the local path planning of a class of wheeled walking mobile robots. Background technique

[0002] The task of path planning for a mobile robot is to find an appropriate movement path from a given starting point to an end point in a working environment with obstacles, so that the robot can bypass all obstacles safely and without collision during the movement. The path planning of the mobile robot mainly solves three problems: (1) enable the robot to move from the initial point to the target point; (2) use a certain algorithm to enable the robot to avoid obstacles and pass through certain points; (3) On the premise of completing the above tasks, try to optimize the trajectory of the robot.

[0003] According to the working environment, the path planning model can be divided into two types: model-based global path planning, where all the information of the operating environment...

Examples

Embodiment Construction

[0039] During the autonomous walking process of the mobile robot, the local path planning method needs to be executed at regular intervals, that is, the present invention generates the current local optimal path and provides it to the navigation and control system.

[0040] The execution period of the process of the local path planning method of the present invention can be divided into two modes: fixed-period execution and variable-period execution. The frequency of the local path planning process is high when the fixed cycle is executed, and the primary goal is to obtain environmental information as accurately as possible and reduce misjudgment; when the variable cycle is executed, the frequency of the local path planning process changes dynamically, and the primary goal is to successfully avoid known obstacles. Different forms can be selected according to different application objects. If the environmental information perceived by the sensor is not accurate enough (for exam...

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