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A Path Planning Method for Mobile Robot Based on Multi-obstacle Environment

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

Inactive Publication Date: 2016-05-11
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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  • A Path Planning Method for Mobile Robot Based on Multi-obstacle Environment
  • A Path Planning Method for Mobile Robot Based on Multi-obstacle Environment
  • A Path Planning Method for Mobile Robot Based on Multi-obstacle Environment

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Experimental program
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Embodiment 1

[0089] Embodiment 1: Path optimization where the initial weight value tends to be safe.

[0090] Such as Figure 8 As shown, the robot optimization path 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 assigning weight coefficients and weight recalculation, the final optimization path result is: AB+BC. The principle and calculation method of the robot path optimization method in this embodiment are as follows:

[0091] ⑴Set the starting point A and target point C;

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

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

Embodiment 2

[0100] Embodiment 2: The initial value of the weight tends to be equal to the safety factor and the attribute coefficient of the point is equal to the robot path optimization method.

[0101] Such as Figure 9 As shown, the robot optimization path 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 QR codes with low security attributes have been filtered out, and all the remaining mixed points can be regarded as having equal safety factors, that is, the safety factors of the link points in the link graph and the QR code points are the same.

[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 points ① and ③ are equal ...

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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 graph method is to connect the corners of the obstacles, the corners of the obstacles and the environment, the vertical points of the corners of the obstacles and the verticals of the environment, and the corners of the environment, and then take the middle of the connection. Points are used as the link points 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 through the algorithm. 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...

Claims

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Application Information

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