Robot path planning method and device based on elliptic constrains

A path planning and robotics technology, applied in two-dimensional position/channel control, instruments, control of finding targets, etc., and can solve problems such as changes in obstacles that cannot be solved in real time

Inactive Publication Date: 2014-08-20
WUHAN UNIV OF SCI & TECH
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Problems solved by technology

[0004] The existing global path planning method is a planning strategy aimed at avoiding collisions between the robot and obstacles with known shapes and posi

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  • Robot path planning method and device based on elliptic constrains
  • Robot path planning method and device based on elliptic constrains
  • Robot path planning method and device based on elliptic constrains

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Embodiment Construction

[0048] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and understandable, specific embodiments of the present invention will be described in further detail below in conjunction with the accompanying drawings:

[0049] The robot path planning method based on ellipse constraints includes the following steps: obtaining robot motion information, obstacle information, and target environment information; determining the conditions for the robot to collide with obstacles; The motion obstacle avoidance model of the ellipse should meet the constraints that the robot is inside the ellipse, the detected obstacle point is outside the ellipse, and the intermediate target point set for the robot to avoid obstacles is on the boundary of the ellipse or in the ellipse In addition, the Bug path planning algorithm is used for global path planning, the robot moves forward along the straight path connecting the starting point and the fin...

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Abstract

The invention provides a robot path planning method based on elliptic constrains so that a robot can avoid an obstacle under the condition that the shape and position of the obstacle in the environment are not known. The method includes the following steps of obtaining robot movement information, obstacle information and target environment information, determining the conditions under which the robot collides with the obstacle, and setting up a movable obstacle avoiding model based on the elliptic constrains according to the conditions under which the robot collides with the obstacle, wherein the constrain conditions satisfied by the elliptic include that the robot is located in the ellipse, the detected obstacle point is located outside the ellipse, and the final target point is located on the boundary of the ellipse or outside the ellipse, and global path planning is conducted through the Bug path planning algorithm. The shortest advance path of the robot is planned, and the aim of avoiding the obstacle in real time is achieved.

Description

technical field [0001] The invention belongs to the field of robot path planning, and in particular relates to a robot path planning method and device based on ellipse constraints. technical background [0002] With the continuous development of modern technology in our country, robot technology has developed rapidly, and the application of robots has become more and more extensive. As an important branch of mobile robot technology, path planning is particularly important in the research of related technologies of robots. Mobile robot path planning refers to finding a safe and collision-free path from the starting position to the target position according to certain optimization criteria in the environment where obstacles exist. [0003] The path planning methods in the prior art can be divided into global path planning methods and local path planning methods according to the degree of mastery of environmental information. Global path planning is a mobile robot path planni...

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Application Information

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IPC IPC(8): G06F19/00G05D1/02G05D1/12
Inventor 吴怀宇张琴丽罗欢陈洋周致富滕雄李威凌
Owner WUHAN UNIV OF SCI & TECH
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