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Robot safety path planning method based on dynamic region division

A technology of area division and safe path, applied in two-dimensional position/channel control and other directions, can solve the problem of static environment without any changes of the robot, and achieve the improvement of scalability, the probability of successful expansion, and the improvement of duration. Effect

Active Publication Date: 2013-10-23
PEKING UNIV SHENZHEN GRADUATE SCHOOL
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AI Technical Summary

Problems solved by technology

However, in practical applications, the environment in which the robot is located is generally impossible to be a static environment without any changes.

Method used

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  • Robot safety path planning method based on dynamic region division
  • Robot safety path planning method based on dynamic region division
  • Robot safety path planning method based on dynamic region division

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Embodiment Construction

[0033] The technical solutions of the present invention will be further described in detail below through embodiments and in conjunction with the drawings.

[0034] The present invention enhances and improves the expansion method of RRT, figure 1 It is the flow chart of the safe path generation algorithm based on area division in this embodiment. The description is as follows:

[0035] (1) When RRT expands a new node, it first generates a sampling point that needs to be randomly selected in space as the expansion direction, such as figure 1 The search loop in the dotted box.

[0036] (2) After selecting the expansion direction, an expanded parent node needs to be selected on the path map.

[0037] First, return the K nodes with the shortest path from the random sampling point on the path map, and add the security evaluation criterion based on the effective entropy of the node, and select the safest node from the K neighboring nodes, that is, the node with the least obstacles in the ar...

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Abstract

The invention relates to a robot safety path planning method based on dynamic region division. The method includes the steps that firstly, a sampling point is randomly selected in path space to be as an expanding direction, and adjacent nodes from which the distance to the random sampling point path is shortest are selected; secondly, the region division is performed on the adjacent nodes according to the size of an occupied area of barriers, safety evaluation criteria of the path are established, and further, optimal adjacent nodes are determined; thirdly, according to the optimal adjacent nodes and a region division result, a proper method is selected to perform path expanding, novel nodes are generated and added into an expanding tree, and a robot safety path is gradually generated. The robot safety path planning method based on the dynamic region division, the complex and changeable unknown environment is taken into consideration in planning of the multi-free-degree robot path, the nodes in a path map are made to contain environment information of a local partial area, and the environment information is utilized to guide a planning device to plan the path efficiently and safe in real time.

Description

Technical field [0001] The invention belongs to the fields of intelligent human-computer interaction and robot motion planning, and specifically relates to a region-based robot safe path planning method suitable for complex dynamic environments. Background technique [0002] Robot path planning is an important part of the robot system and the basis of robot navigation and target tracking. The fundamental purpose of path planning is to establish a mutual conversion bridge between high-level tasks and low-level descriptions. When high-level tasks issue task commands through high-level languages, robots can automatically convert commands into low-level actions through this conversion bridge and execute them intelligently. . This is one of the basic conditions for friendly human-computer interaction. Path planning also has important applications in computer graphics, biomedicine, and space exploration. [0003] The planning problem in the static environment has been solved well. Ho...

Claims

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Application Information

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IPC IPC(8): G05D1/02
Inventor 刘宏饶凯
Owner PEKING UNIV SHENZHEN GRADUATE SCHOOL
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