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Robot three-dimensional path planning method

A technology for path planning and robotics, applied in instruments, biological neural network models, etc.

Inactive Publication Date: 2008-07-30
ZHONGYUAN ENGINEERING COLLEGE
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Problems solved by technology

But the NA algorithm is only applicable to two-dimensional space, the present invention proposes a path planning algorithm based on neural network energy function applicable to three-dimensional space

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  • Robot three-dimensional path planning method

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Embodiment Construction

[0013] The specific implementation method of the path planning of the three-dimensional path planning algorithm based on the neural network energy function of the present invention is divided into the following steps:

[0014] Step 1: Define the path total energy function.

[0015] The collision penalty function of a path is defined as the sum of the collision penalty functions of each path point, and the collision penalty function of a point is obtained through its three-layer forward neural network representation for each obstacle. Figure 1 represents a neural network with a point-to-obstacle penalty function. The input values ​​of the three nodes of the input layer are the abscissa, ordinate and vertical coordinates x, y, z of the path point respectively, and each node of the middle layer corresponds to the inequality constraint of a surface of the obstacle, the input layer and The connection weight coefficient of the intermediate layer is equal to the coefficients in fron...

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Abstract

The invention relates to an autonomous mobile robot 3-D path planning, in particular to an autonomous mobile robot 3-D path planning algorithm based on a neural network energy function. The autonomous mobile robot 3-D path planning algorithm defines the path total energy function to be the weighted sum of a collision penalty function and a partial energy function which corresponds to the path length, detects whether the path points are positioned in obstacles during the path planning process, and moves the path point positions through different dynamic motion equations according to the different positions of the path points in or outside the obstacles, so as to enable the path points to move towards the direction which enables the function value of the total energy function to decrease, thereby finally planning out the shortest obstacle-avoiding path.

Description

technical field [0001] The invention relates to three-dimensional path planning of a robot, in particular to a three-dimensional path planning method for an autonomously moving robot based on a neural network energy function. Background technique [0002] Autonomous mobile robot path planning refers to the robot looking for a 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 without collision. The robot path planning problem can be divided into two types, one is the global path planning based on the complete prior information of the environment, and the other is the local path planning based on the sensor information, and the environment of the latter is unknown or partially unknown. Typical methods that have been proposed for global path planning include visual graph method, graph search method, artificial potential field method, etc. The advantage of the visual graph method is that...

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Application Information

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IPC IPC(8): G06Q10/00G06N3/02
Inventor 禹建丽库卢莫夫
Owner ZHONGYUAN ENGINEERING COLLEGE
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