Robot path planning method based on two cooperative competition particle swarms and Ferguson spline

A path planning and robotics technology, applied in the field of robotics, can solve problems such as oscillation before obstacles, difficulty in achieving real-time path planning, and unfavorable robot motion control.

Inactive Publication Date: 2010-09-22
XIDIAN UNIV
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Problems solved by technology

The path obtained by the grid method can obtain the optimal solution under certain conditions, but the selection of the grid size will affect the quality of the solution, and the storage space required when the search space is large is also large
The visual graph method needs to continuously reconstruct the visual graph, and the search efficiency is relatively low
On the other hand, the path planned by the grid method and the visualization method is generally a broken line, which is not conducive to the motion control of the robot.
The artificial potential field method has a simple structure and is easy to implement. The planned path is relatively smooth and safe, and has been widely used, but it also has major defects: such as l

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  • Robot path planning method based on two cooperative competition particle swarms and Ferguson spline
  • Robot path planning method based on two cooperative competition particle swarms and Ferguson spline
  • Robot path planning method based on two cooperative competition particle swarms and Ferguson spline

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[0044] The present invention will be described in further detail below with reference to the drawings.

[0045] Reference figure 1 The steps of the present invention for path planning are as follows:

[0046] Step 1. Model the robot motion environment.

[0047] In a certain room, simplify the robot to a point, the field length range [-1000, 1000], the width range [-1000, 1000]; the current coordinates and heading angle of the robot and the target coordinates and heading angle are given, that is, the current coordinates are [-880 -880], the current heading angle is [600 400], the target coordinates are [300 300], and the target heading angle is [-300100].

[0048] Step 2. Use Ferguson splines to describe the path of the mobile robot.

[0049] The Ferguson spline in two-dimensional space is expressed as:

[0050] r(t)=(x(t), y(t))=P 0 f 1 (t)+P 1 f 2 (t)+P′ 0 f 3 (t)+P′ 1 f 4 (t)=a 0 +a 1 t+a 2 t 2 +a 3 t 3 1)

[0051] Where f 1 (t), f 2 (t), f 3 (t), f 4 (t) is the Ferguson polynomial,...

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Abstract

The invention discloses a robot path planning method based on two cooperative competition particle swarms and Ferguson spline, mainly solving the problem of the prior art that the smoothness of the planned path is poor and the convergence rate is slow. The planning method comprises the following steps: modeling the motion environment of a mobile robot; performing three Ferguson spline connections to describe the path of the mobile robot; using the endpoint of the Ferguson spline and the corresponding tangent vector to form and optimize particles; adopting shortest punish function and safety punish function to define a fitness function of which path is to be solved; using the algorithm based on two cooperative competition particle swarms performing global optimization to the fitness function, and outputting the robot path described by Ferguson spline according to the optimization result. The planning method comprehensively considers the shortest and safety of the robot path, the planned path is smooth and is easy for the motion control of the mobile robot; and the planning method achieves the aims of artificial planning and can be used for the autonomous navigation of various mobile robots.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a path planning method for mobile robots, which can be used for autonomous navigation of various mobile robots. Background technique [0002] The path planning problem is one of the key technologies of mobile robot navigation. The main task is to find a feasible, collision-free optimal or near-optimal path from the starting point S to the target point G in an environment with obstacles. The existing path planning methods for mobile robots mainly include: grid method, visual graph method, artificial potential field method and various intelligent planning algorithms. The path obtained by the grid method can obtain the optimal solution under certain conditions, but the selection of the grid size will affect the quality of the solution, and the storage space required when the search space is large is also large. The visual graph method needs to continuously reconstruct th...

Claims

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Application Information

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IPC IPC(8): B25J19/00
Inventor 郭宝龙吴宪祥王娟葛川
Owner XIDIAN UNIV
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