Quasi three-dimensional map-based mobile robot global path planning method

A global path planning and mobile robot technology, applied to road network navigators and other directions, can solve problems such as unsatisfactory real-time performance, long search time, and long time consumption, and achieve the effect of improving planning efficiency and timeliness

Active Publication Date: 2010-07-07
湖南湘江时代机器人研究院有限公司
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Problems solved by technology

The process of establishing a topological network by the topology method is quite complicated, especially when adding obstacles, how to effectively correct the existing topological network and how to improve the graphics speed are problems to be solved; the value of the visualization method to all fixed points when searching for the shortest distance path Without distinction, just enumerate all feasible paths and select an optimal path among them, which will take a long time, e...

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  • Quasi three-dimensional map-based mobile robot global path planning method
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Embodiment approach 1

[0069] figure 1 It is the program flow chart of the main implementation process of the global path planning algorithm. The specific steps are as follows: (1) On the basis of the ordinary binary grid map, a three-dimensional map is established according to the contour line principle, and each grid point in the map is Assign a height value. Establish the I, J coordinate system for the map, and the grid in the map is represented by the array ZG[I][J]. The height value of the grid is represented by H, that is, ZG[I][J]=H, H∈{0, 1, 2, 3...}, the larger the value of H, the higher the height.

[0070] In the present invention, the map is divided into two types of areas: free area and obstacle area. The height value of the free area is H=0; the height value of the obstacle area is H>0, the height value of the grid point at the center of gravity in the obstacle area not in contact with the boundary is the largest, and the grid point in contact with the boundary in the obstacle area i...

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Abstract

The invention discloses a quasi three-dimensional map-based mobile robot global path planning method. The method comprises the following steps: 1, reforming a common grid map to a quasi three-dimensional map based on the contouring principle; 2, initially planning: connecting the starting point and the finishing point of a mobile robot into a straight line serving as a current path; 3, scanning the grid passed by the current path, changing to step 6 if a barrier cannot be scanned, or changing to step 4 or step 5 according to the type of a barrier if the barrier is found by scanning; 4, processing the barrier contacted with the boundary, updating the current path, and returning to the step 3; 5, processing barriers which are not contacted with the boundary, updating the current path, and returning to the step 3; and 6, outputting the current path to complete the global path planning. The method sufficiently explores the information of the barriers, improves the execution efficiency of a program, is easy for implementation, and meets the real-time requirement of the mobile robot global path planning.

Description

technical field [0001] The invention belongs to the field of robots and their intelligent control, and relates to a global path planning method for a mobile robot based on a quasi-three-dimensional map. technical background [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. According to different working environments, path planning can be divided into two types: global path planning in which all the information of the working environment is known; local path planning in which all or part of the information of the working environment is unknown. [0003] The currently widely used global path planning algorithms include: topology method, visualization method and grid method. The process of establishing a topological network by the topology method is quite com...

Claims

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Application Information

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IPC IPC(8): G01C21/32
Inventor 王耀南周良朱江印峰马波聂鑫
Owner 湖南湘江时代机器人研究院有限公司
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