Lambda* path planning algorithm

A path planning and algorithm technology, which is applied in two-dimensional position/channel control and other directions, can solve the problems of many nodes involved and time-consuming, etc., and achieve the effect of small path length, reducing time-consuming, and reducing the amount of calculation

Inactive Publication Date: 2014-01-22
UNIV OF ELECTRONICS SCI & TECH OF CHINA ZHONGSHAN INST
View PDF5 Cites 39 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Aiming at the problem of many nodes and time-consuming in the open table in the A* algorithm, a fast path planning algorithm L

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Lambda* path planning algorithm
  • Lambda* path planning algorithm
  • Lambda* path planning algorithm

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0023] Embodiment 1: Algorithm when the present invention is implemented in planar path planning

[0024] figure 2 Shown is the algorithm pseudo code when the present invention is implemented in planar path planning. Such as figure 2 As shown, the path planning algorithm in Embodiment 1 of the present invention includes:

[0025] 1. Generate an envelope according to the position and shape of the obstacle, and generate a path intermediate point set V. In Embodiment 1 of the present invention, a rectangular envelope is used, and the intermediate point of the path is the apex of the obstacle envelope;

[0026] ②Construct the intermediate data structure and create open and closed tables;

[0027] ③ will p start Insert closed table;

[0028] ④ when p goal If it is not in the closed table, then expand the node and turn to ⑤; otherwise, the smooth path (algorithm pseudocode such as image 3 shown), and output the path information;

[0029] ⑤ Use the node with the smallest f...

Embodiment 2

[0045] Embodiment 2, the present invention is implemented in the algorithm of path planning under 3D environment

[0046] Figure 4 Shown is the algorithm flow chart when the present invention is implemented in path planning in a 3D environment. Such as Figure 4 As shown, the path planning algorithm of Embodiment 2 of the present invention includes:

[0047] 1. Generate an envelope according to the position and shape of the obstacle, and generate a path intermediate point set V. In Embodiment 2 of the present invention, a cuboid envelope is used, and the path intermediate point is the apex of the obstacle envelope;

[0048] ②Construct the intermediate data structure and create open and closed tables;

[0049] ③ will p start Insert closed table;

[0050] ④ when p goal If it is not in the closed table, then expand the node and turn to ⑤; otherwise, the smooth path (algorithm pseudocode such as image 3 shown), and output the path information.

[0051] ⑤ Use the node wit...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention discloses a lambda* path planning algorithm, which is improved aiming at solving the problems that contained nodes are many and consumed time is much in an open table in the existing A* algorithm. The algorithm comprises the steps of using visual images to establish a path planning environment, creating an open table and a close table, creating a node data structure, sealing a path, and adding a smooth process to smooth the path. The lambda* path planning algorithm disclosed by the invention is mainly used for quick path planning of robot two-dimensional and three-dimensional spaces.

Description

【Technical field】 [0001] The invention relates to the field of intelligent control, in particular to the technical field of path planning of mobile robots. 【Background technique】 [0002] With the further improvement of the application requirements of industrial robots, the existing two-dimensional path planning technology can no longer meet the needs of industrial robots in many fields, and people urgently need a set of mature fast path planning technology that can be applied in three-dimensional space. [0003] The planning method based on free space construction is an important class of path planning methods. This kind of method first expresses the continuous environment with obstacles as a graph through geometric methods, and then uses the graph search method to search for a non-collision shortest path from the starting point to the goal point. [0004] Scholars in the field of robotics research often use grid graphs, visibility graphs, navigation meshes, probabilistic ...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): G05D1/02
Inventor 黎萍周文辉朱军燕彭芳杨亮李云松付根平朱春媚刘金华
Owner UNIV OF ELECTRONICS SCI & TECH OF CHINA ZHONGSHAN INST
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap