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Path planning method for mobile robot in dynamic environment

A mobile robot and path planning technology, which is applied in two-dimensional position/channel control and other directions, and can solve problems such as path planning obstacles of mobile robots

Active Publication Date: 2014-05-28
UNIV OF ELECTRONIC SCI & TECH OF CHINA
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Problems solved by technology

These will cause considerable obstacles to the path planning of mobile robots in dynamic environments.

Method used

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  • Path planning method for mobile robot in dynamic environment
  • Path planning method for mobile robot in dynamic environment
  • Path planning method for mobile robot in dynamic environment

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Embodiment Construction

[0072] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0073] see figure 1 , a path planning method for a mobile robot in a dynamic environment. First, the grid method is used to model the environment of the robot's operating space, and then enter the first layer to plan the global path planning, and use the improved ant colony algorithm to plan a global path for the mobile robot, and then Entering the second layer of planning for local rolling prediction and collision avoidance planning, the robot performs local prediction and collision avoidance while walking along the planned global path. With the advancement of the rolling window, a global collision-free path can finally be obtained.

[0074] Among them, such as figure 2 As shown, the main idea of ​​using the grid method for environment modeling is: set the lower left corner of the robot running space E as the origin of coordinates, horizonta...

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Abstract

The invention discloses a double-layer planning method based on the combination of global path planning and local rolling prediction collision avoidance planning, so as to solve the problem of path planning for a mobile robot in a dynamic environment. The method mainly comprises two parts: the global path planning and the local rolling prediction collision avoidance planning. The path planning method can better realize robot navigation, and improve intelligence of the robot. The double planning method can be utilized to prevent the blindness of planning in the beginning, and searching space of the problem is reduced; based on the uncertainty of the moving direction of a dynamic barrier and by utilizing the two collision prediction strategies and two corresponding collision avoidance strategies, the dynamic barrier can be avoided well; and particularly, in order to adapt to the change of environment better, in the second layer of planning, a Follow_wall behavior based on behavior method is added, so that when the environment changes, the mobile robot can still arrive at the target without touching the barriers safely.

Description

technical field [0001] The invention relates to the fields of robot path planning, artificial intelligence, etc., and specifically relates to a method for path planning of a mobile robot in a dynamic environment based on a two-layer planning method combining global path planning and local rolling prediction and collision avoidance planning. Background technique [0002] In the early 1980s, the research on mobile robots began to rise. At present, its research results mainly include EOD robots, robotic fish, unmanned aerial vehicles, etc. These applications require robots to have high intelligence. Robot navigation is the key technology to realize robot intelligence, and path planning, as an important part of robot navigation, has received extensive attention. After years of research, many scholars have proposed many excellent path planning algorithms, such as the early visualization method, artificial potential field method, grid method, and the later ant colony algorithm, ge...

Claims

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Application Information

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IPC IPC(8): G05D1/02
Inventor 屈鸿王晓斌柯星刘贵松侯孟书陈文宇冯旻昱
Owner UNIV OF ELECTRONIC SCI & TECH OF CHINA
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