Robot overall path planning method based on charge system search

A technology of global path planning and path planning, applied in two-dimensional position/channel control and other directions, which can solve the problem of high computational efficiency

Inactive Publication Date: 2014-09-03
HARBIN ENG UNIV
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  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide a robot global path planning method based on charge system search, which has high calculation efficiency and can effectively solve the problem of robot path planning in complex dynamic environments

Method used

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  • Robot overall path planning method based on charge system search
  • Robot overall path planning method based on charge system search
  • Robot overall path planning method based on charge system search

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Embodiment Construction

[0044] like figure 1 As shown, the principle of the robot system is that the core control unit of the robot is responsible for the motion control of the robot and the collection and processing of information from various sensors; the servo motor drive system of the robot receives the control signal from the core control unit to drive the motor of the robot; the power measurement sensor of the robot can measure the The current power, let the power of the robot at the initial position be E o , the electric quantity when reaching the target position is E f , then the energy consumed by the robot during operation E=E o -E f The obstacle avoidance sensor of the robot can measure the distance information of the obstacle in front of the robot in real time; the running speed of the robot can be measured by the photoelectric encoder sensor of the robot, and the distance information of the robot can be obtained by combining the running time of the robot.

[0045] refer to figure 2 ...

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Abstract

The invention relates to a robot overall path planning method based on the charge system search. The method includes the steps that a robot path planning mathematic model is established; environment parameters for planning paths of a robot and relevant parameters of a charge system search algorithm are initialized; N paths and the initial position and the speed of each charge are randomly initialized; according to robot environment information and the robot path planning mathematic model, the fitness value fit, the best fitness value fitbest and the worst fitness value fitworst of each charge are calculated; the charge quantity qj of each charge, an attraction mark pij between every two charges and the Euclidean distance rij between every two charges are updated; the position and the speed of each charge are updated; fitness of each charge is recalculated according to the robot path planning mathematic model, the position Xbest new of the charge with the best fitness currently is found, and therefore the optimal path of the robot is obtained; if the number of iteration times is larger than the number itermax of iteration, a circulation is ended, the optimal path is output, and otherwise iteration of the next time is conducted.

Description

technical field [0001] The invention relates to a robot global path planning method based on charge system search. Background technique [0002] Robot path planning refers to providing a safe and efficient motion path for a robot to complete a given task in its workspace. Generally speaking, there are many paths that a robot can choose to complete a given task. In practical applications, it is often necessary to choose a path that is optimal (or nearly optimal) under certain criteria. The commonly used criteria are: the shortest path, the energy consumption Least or shortest usage time etc. Therefore, robot path planning is essentially a constrained optimization problem. [0003] Path planning is an important topic in the field of mobile robot research. According to the degree of prior knowledge of environmental information, path planning can be divided into global path planning based on prior environmental information and local path planning based on sensors. Traditional...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
Inventor 管凤旭刘晓龙廉德源赵拓杨长青
Owner HARBIN ENG UNIV
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