Path planning method of moving robot under dynamic and complicated environment

A mobile robot, complex environment technology, applied in two-dimensional position/channel control and other directions, can solve the problems of low operation efficiency, insufficient research, and little research.

Active Publication Date: 2013-12-11
DEEPBLUE ROBOTICS (SHANGHAI) CO LTD
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AI Technical Summary

Problems solved by technology

Dijkstra algorithm can get the optimal solution of the shortest path, but its disadvantage is that there are many nodes for traversal calculation, resulting in low operating efficiency
[0004] At the same time, most of the path planning methods are only for the structural map c

Method used

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  • Path planning method of moving robot under dynamic and complicated environment
  • Path planning method of moving robot under dynamic and complicated environment
  • Path planning method of moving robot under dynamic and complicated environment

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Embodiment Construction

[0023] A non-limiting embodiment is given below in conjunction with the accompanying drawings to further illustrate the present invention.

[0024] refer to Figure 1-Figure 2 As shown, the specific steps of the global path planning under the dynamic environment of the present invention are: comprise the following steps:

[0025] 101. Establish a global static environment map according to the motion environment of the mobile robot, initialize the position information of the global static environment map, including the starting point position and the target point position of the mobile robot's movement path, the static obstacle position in the global static environment map and the robot For the position of the motion trap, the global static obstacle grid map is obtained by overlaying the global static environment map with the grid method, and the starting point position and the target point in the global static obstacle grid map are marked by the serial number method, see fi...

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Abstract

The invention provides a global path planning method of a moving robot under a dynamic and complicated environment. The method includes the steps of building a global environment map according to an actual environment, building a dynamic barrier environment, obtaining a grid map by means of a grid method, converting a barrier distribution map obtained in the grid method into an empowered adjacent matrix of the map, carrying out global path planning on the environment by means of an ant colony algorithm, processing trap problems in the environment in a regressing method, judging whether a current position of a path is a target point, repeating the preceding steps if the answer is negative, and ending if the current position is the designated target point. The method is simple and easy to achieve, and the path planning effect is good.

Description

technical field [0001] The invention relates to a path planning method, in particular to a global path planning method for a mobile robot under the complex situation where dynamic obstacles and static obstacles coexist. Background technique [0002] As the application of robots becomes more and more extensive, people's requirements for robots continue to increase. As an important branch of robot applications, mobile robots are gradually showing their importance in production and life. The prerequisite for a robot to complete a certain task is to reach the task area, so the problem of robot path planning is the most basic and also the most important problem in robot research. [0003] At present, there are many methods to solve path planning, among which artificial potential field method and Dijkstra method are commonly used. The artificial potential field method has been widely used in real-time obstacle avoidance and smooth trajectory control because of its simple structur...

Claims

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Application Information

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IPC IPC(8): G05D1/02
Inventor 唐贤伦张鹏庄陵张毅蒋畅江蒋波杰李洋董磊
Owner DEEPBLUE ROBOTICS (SHANGHAI) CO LTD
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