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

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...

AI Technical Summary

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, especially when the size of the robot is small; the grid granularity in the grid method is too large. If the grid size is too small, the search range of the algorithm will increase exponentially, resulting in a large amount of calculation, taking up a large amount of storage space, and unsatisfactory real-time performance.

[0004] These methods focus on the path generation process, only using the boundary information of obstacles, and cannot make decisions based on obstacle information.

Images