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Mobile robot path planning method based on multi-barrier environment

A mobile robot and path planning technology, applied in the field of mobile robots, can solve problems such as robot path deviation and inconvenient laying methods, and achieve the effect of improving construction efficiency

Inactive Publication Date: 2014-07-30
SHENZHEN PUZHILIANKE ROBOT TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The advantage of the link graph method for the multi-obstacle environment is that compared with other algorithms, the robot’s walking path is relatively spacious and the safety is high. It is relatively far away, which may cause the path of the robot to deviate because the distance between the two points exceeds the minimum recognition distance D of the robot
The disadvantage of the above method is that the laying method of laying the two-dimensional code is not convenient for construction in the environment with many obstacles. For the first case, there are obstacles in the environment first, and then the two-dimensional code is laid: due to many obstacles, manual methods are used. When laying, obstacles must be avoided artificially; for the second case, the QR code is laid first, followed by obstacles: due to the addition of multiple obstacles in the environment, the original path of the QR code must be replanned

Method used

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  • Mobile robot path planning method based on multi-barrier environment
  • Mobile robot path planning method based on multi-barrier environment
  • Mobile robot path planning method based on multi-barrier environment

Examples

Experimental program
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Effect test

Embodiment 1

[0089] Example 1: Path optimization with weight initial values ​​tending towards safety.

[0090] like Figure 8 As shown, the optimal path of the robot in this embodiment is more inclined to safety, see the initial values ​​of the two types of coefficients. Figure 8 The three points in are all points below the safety factor threshold; the distance between the two QR code points A and C is less than the minimum recognition distance D of the robot. Before the path optimization, although the AC path is the shortest path intuitively, However, after recalculation by assigning weight coefficients and weights, the final optimized path result is: AB+BC. The principle and calculation method of the robot path optimization method in this embodiment are as follows:

[0091] (1) Set the starting point A and the target point C;

[0092] (2) Points A and C are two-dimensional code points; point B is the link point of the link diagram;

[0093] (3) The first coefficient of each point is...

Embodiment 2

[0100] Embodiment 2: The initial value of the weight tends to be a robot path optimization method in which the safety factor is equal and the attribute coefficients of the points are equal.

[0101] like Figure 9 As shown in the figure, the optimized path of the robot in this embodiment is more inclined to have equal safety coefficients and equal attribute coefficients of points. The principle and calculation method of the robot path optimization method are as follows:

[0102] ⑴Because Figure 9 The QR codes with low security attributes have been filtered out in the QR code, and all the remaining mixed points can be regarded as equal safety factors, that is, the link points of the link map and the QR code points have the same safety factor.

[0103] (2) Assume that the distance from point ① to point ② is less than the minimum distance D that the robot can recognize;

[0104] (3) Since the attribute coefficients of points ② and ④ are the same; the attribute coefficients of ...

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Abstract

The invention relates to a mobile robot path planning method based on a multi-barrier environment. The method includes the following steps that two-dimensional code discrete points are set up in an initial environment; link graph link points are set up with a link graph method, and a link graph is generated; assignment is performed on two-dimensional code security attributes with the link graph method; two-dimensional codes exceeding safety coefficient threshold values are filtered out; a mixing point authorized and undirected net-shaped link graph is generated; weight coefficients are set; weights are assigned again; a starting point and a target point of a robot are set; a robot path is generated. According to the mobile robot path planning method, due to the fact that the two-dimensional code discrete points and the link graph link points are set up, the link graph method is used for assigning the security attributes to the two-dimensional codes and filtering out the points, with the low security attributes, of the two-dimensional codes in the environment and the attributes of the distance, the security and the points in robot path planning are perfectly combined, the function of planning the two-dimensional security path of the robot under the multi-barrier environment is achieved, and the construction efficiency of laying the two-dimensional codes in the multi-barrier environment is effectively improved.

Description

technical field [0001] The invention belongs to the technical field of mobile robots, in particular to a path planning method for a mobile robot based on a multi-obstacle environment. Background technique [0002] At present, the global path planning of robots in multi-obstacle environments usually adopts the link graph method. The link diagram method is to connect the corner points of each obstacle, the corner points of the obstacle and the corner points of the environment, the corner points of the obstacle and the vertical points of the environment vertical line, and the corner points of the environment, and then take the middle of the connection line. The point is used as the link point of the link graph, and the link points of each link graph are connected to form a network link graph, and finally the shortest optimal path is generated by the algorithm. The advantage of the link graph method for multi-obstacle environments is that compared with other algorithms, the rob...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
Inventor 金纬
Owner SHENZHEN PUZHILIANKE ROBOT TECH CO LTD
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