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Mobile robot path planning method

A mobile robot and path planning technology, applied in the field of mobile robots, can solve problems such as difficult extraction of fuzzy rules and limitations of neural networks

Inactive Publication Date: 2010-11-17
DONGGUAN POLYTECHNIC
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AI Technical Summary

Problems solved by technology

However, the current application of intelligent algorithms in robot path planning is also subject to great limitations. For example, neural networks are limited to modeling and cognition of the environment. When fuzzy logic is applied to complex and unknown dynamic environments, it is difficult to extract fuzzy rules. In particular, there is no path planning method that can perfectly solve the local minimum problem.

Method used

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Embodiment Construction

[0026] The present invention is further described in conjunction with the following examples.

[0027] refer to figure 1 The model of the present invention illustrates an embodiment of the path planning method of the mobile robot, which includes the following steps.

[0028] A. Determine the moving target 10 of the robot 13; set the number of sensors 14 of the robot 13 M and the number of directions that the robot 13 can move forward N .

[0029] The sensor 14 is a hardware device configured by the robot 13, and is evenly arranged according to the 360° circumference of the robot 13 M indivual. Therefore, the j sensors S j direction angle , , .

[0030] The advancing direction of the robot 13 is set according to the rotatable angle of the actuator of the robot 13. The higher the accuracy of the actuator, the more the advancing directions. For a predetermined actuator, the number of directions that the robot 13 can move forward N It is fixed. When the forward di...

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Abstract

The invention discloses a mobile robot path planning method, which comprises the following steps of: A, determining a moving destination of a robot, and setting the number of sensors of the robot and the number of directions towards which the robot can move; B, detecting the environmental information of the surrounding by using the robot; C, defining a mapping relationship between the path planning method and an artificial immune network; and D, resolving the maximum concentration of the artificial immune network and determining an antibody corresponding to the maximum concentration as the moving direction of the robot. The mobile robot path planning method of the invention has the advantage of reaching a destination point under a complex obstacle environment with the local minimization problem, and is feasible and effective under the complex obstacle environment. Simulation results obtained under the U-shaped obstacle environment further show the high efficiency of planning results obtained by the method of the invention under the complex environment.

Description

technical field [0001] The invention relates to mobile robot technology, in particular to a path planning method for a mobile robot. Background technique [0002] Mobile robot technology mainly includes navigation and positioning technology, sensor technology and its information fusion, trajectory tracking technology, path planning technology, navigation technology based on geographic information system, multi-body cooperation and interaction technology, bionics technology, etc. Among them, path planning technology is an indispensable and important part of mobile robot navigation technology. It requires the robot to independently determine the path according to the given instructions and environmental information, avoid obstacles, and achieve mission goals. Path planning is the safety guarantee for the mobile robot to complete the task, and it is also an important symbol of the intelligence of the mobile robot. Especially in the case that the accuracy of the robot hardware ...

Claims

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Application Information

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IPC IPC(8): G05D1/03
Inventor 胡选子贺定修谢存禧
Owner DONGGUAN POLYTECHNIC
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