A 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, duration and probability of successful expansion. Effect

Active Publication Date: 2015-11-18
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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  • A Robot Safety Path Planning Method Based on Dynamic Region Division
  • A Robot Safety Path Planning Method Based on Dynamic Region Division
  • A 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 described in further detail below through embodiments and in conjunction with the accompanying drawings.

[0034] The present invention enhances and improves the extension method of RRT, figure 1 It is a flow chart of the safe path generation algorithm based on area division in this embodiment. Its 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 extension direction, you need to select an extended parent node on the path map.

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

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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 in particular relates to a robot safety path planning method based on area division, which is 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 are issued through high-level language, the robot can automatically convert commands into low-level actions through this conversion bridge and intelligently execute them. . This is one of the basic conditions for friendly human-computer interaction. Path planning also has important applications in the fields of computer graphics, biomedicine and aerospace exploration. [0003] The current planning problem in ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
Inventor 刘宏饶凯
Owner PEKING UNIV SHENZHEN GRADUATE SCHOOL
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