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Global path planning method based on fuzzy topological map under large-scale environment

A global path planning and topology map technology, applied in navigation, instrumentation, surveying and navigation, etc., to solve path planning problems, facilitate understanding and identification, and construct simple and easy-to-understand effects

Inactive Publication Date: 2011-08-17
SHANDONG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] To solve this problem, the present invention provides a fast and accurate global path planning method based on fuzzy topological maps in a large-scale environment to complete the task requirements for path planning for single and multi-objectives

Method used

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  • Global path planning method based on fuzzy topological map under large-scale environment
  • Global path planning method based on fuzzy topological map under large-scale environment
  • Global path planning method based on fuzzy topological map under large-scale environment

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Embodiment Construction

[0040] The following drawings and examples further illustrate the present invention.

[0041] The first is to build a map. Since the corridor is a large-scale and structured environment, constructing a topological map with node coordinate information is a traditional environmental modeling method. However, this method needs to artificially provide accurate location information of key nodes in the environment, which reduces the autonomy of the robot. Therefore, in view of the special structure of the environment and typical environmental characteristics, a method for patrol management and path planning is proposed and constructed, based on "distributed information representation "Global fuzzy topological semantic map.

[0042]Corridor intersections, corners, room doors, elevator entrances, stairways, etc. are used as important locations, represented by nodes, and connected by lines to represent the connection between two nodes. For multiple doors with similar or opposite posi...

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Abstract

The invention relates to a global path planning method based on a fuzzy topological map under a large-scale environment to finish task requirements on a single target and multiple targets for planning paths. The method comprises the following steps of: 1) first, establishing a map and constructing a global fuzzy topological semantic map oriented to patrol management and path planning and based ondistributed information presentation; 2) inputting map related data; 3) processing and collecting the map data and establishing a new mapping map frame by old map data; 4) processing data of a targetpoint to correct the new mapping map; 5) processing an initial point and further correcting the new mapping map; 6) comparing comparatively available mapping target node path linked list arrangementsin turn so as to obtain an arranging mode with a minimum length; 7) converting the obtained mapping target node link into a target node link arrangement under an original map system; 8) expanding by using a heuristic algorithm to obtain a path under the original map system, wherein the path is the planned optimal path; and 9) outputting algorithm result data.

Description

technical field [0001] The patent of the present invention relates to a global path planning method based on a fuzzy topological map in a large-scale environment, and belongs to the technical field of path planning algorithms. Background technique [0002] The path planning algorithm of the robot is one of the key technologies to realize the autonomous navigation of the robot. Mobile robot path planning refers to finding an appropriate motion path from a given starting point to a designated end point in a working environment with obstacles, so that the robot can reach the target point safely and without collision during the motion process. [0003] At present, there are many algorithms that can plan the running path of the robot, but most of them can only be used for a single target task, and cannot plan an optimal path for multiple target tasks. Solving the task of planning multiple targets in the context of associative map modeling becomes an open problem for robotic plat...

Claims

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Application Information

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IPC IPC(8): G01C21/00
Inventor 周风余田国会吴皓周勐王家超张涛涛王广奇段鹏亓希龙
Owner SHANDONG UNIV
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