Planning method for simulated path of robot under complex dynamic scene and simulation platform

Abstract

The invention relates to a planning method for a simulated path of a robot under a complex dynamic scene and a robot motion planning simulation platform for achieving the method. According to the method, path security evaluation criteria are established according to a collision possibility and an arrival possibility, an algorithm framework for planning two layers of interactive paths is adopted, motion planning is divided into an environment exploration layer and a partial path planning layer, the two layers perform information interaction by means of a self-adaptive path buffering area, and a security update search tree is taken as a top planner and applied to the environment exploration layer in the two-layer interactive framework. The simulation platform comprises a problem module, a planning module and an execution module. A safe and real-time path planning scheme is provided according to a path planning strategy selected by simulating a human path, the defect that only the feasibility of the path is considered but the continuity of the path is not concerned in the prior art is overcome, and the motion planning of the robot in a complex dynamic environment is realized.

Description

technical field [0001] The invention belongs to the field of robot motion planning, and in particular relates to a robot bionic safety path planning method applicable to a complex dynamic environment, and a robot motion planning simulation platform in a complex dynamic environment using the method. Background technique [0002] Motion planning studies the methods and techniques of how robots reach their intended goals. It is the basis of robot navigation and target tracking, and one of the basic conditions for friendly human-computer interaction and robots to better serve humans. It also has important applications in computer-aided design, biomedical, and aerospace fields, and belongs to the core research of robotics. field. [0003] The current path planning methods are mainly divided into precise geometric path planning methods and path planning methods based on probability methods. The idea of ​​the geometric path planning method is to use the environmental characterist...

AI Technical Summary

Problems solved by technology

However, most of the current sampling-based planning algorithms only calculate a feasible path, without considering the possible impact of the environment on the planned path, resulting in path segments that are likely to be too close to obstacles, and collisions may occur during the robot's execution of the mission path. , and when the environment changes, these path segments are more likely to be occupied by obstacles and fail

This will lead to more re-planning, and will lead to a lower success rate of successfully reaching the goal

More importantly, in a complex dynamic environment, information such as the number of obstacles, movement patterns, and the scale of the environment are uncertain, and these uncertainties will greatly increase the difficulty of planning in a dynamic environment. Therefore, in complex Safe and efficient path planning in a dynamic environment still faces many challenges

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