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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
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  • 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 Lambda* path planning algorithm that can be applied to the two-dimensional and three-dimensional space of the robot is proposed.

Method used

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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...

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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

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Application Information

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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
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