A Path Planning Method for Mobile Robots in Dynamic Complex Environment

A mobile robot, complex environment technology, applied in two-dimensional position/channel control and other directions, can solve the problems of the program falling into an infinite loop, not much research, and many nodes for traversal calculation.

Active Publication Date: 2016-06-29
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 containing static obstacles, and there are not many studies on the complex environment including static obstacles and dynamic obstacles in the global environment, especially for the In the case of falling into the trap of an endless loop, the research is even more insufficient

Method used

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  • A Path Planning Method for Mobile Robots in Dynamic Complex Environment
  • A Path Planning Method for Mobile Robots in Dynamic Complex Environment
  • A Path Planning Method for Mobile Robots in Dynamic Complex Environment

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Embodiment Construction

[0021] A non-limiting embodiment is given below in conjunction with the accompanying drawings to further illustrate the present invention.

[0022] refer to Figure 1-Figure 2 Shown, the specific steps of the global path planning under the dynamic environment of the present invention are:

[0023] Step 1: Establish a global environment map based on the actual complex environment, including: starting point information for path planning, target point information, and known static obstacle information and trap information in the environment map.

[0024] Simulate the actual complex environment as a 01 matrix, that is, the elements in the matrix are either 0 or 1. The number 0 represents the movable free position information in the actual environment, and the number 1 represents the position information of the static obstacle in the actual environment. The starting point is the first non-1 position in the upper left corner, and the ending point is the last non-1 position in the ...

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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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Patent Type & Authority Patents(China)
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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