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Method and system for planning nonlinear paths

A non-linear path and path technology, applied in two-dimensional position/channel control and other directions, can solve problems such as the inability to calculate the path in real time, the unsatisfactory motion effect of the mobile robot, and the number of iterations.

Active Publication Date: 2014-12-24
深圳中智永浩机器人有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

For example, the A-star algorithm can plan the globally optimal path, but the number of iterations is large; the number of iterations of the ant colony algorithm must be preset during actual operation. If the number of times is too small, the optimal solution may not be obtained, but if the number of times is too large A lot of computing time is wasted; the artificial potential field method has good real-time performance, but there are trap areas
Moreover, the above commonly used algorithms must provide a grid map before running. For a large and complex map environment, a large amount of memory is required to save the map and intermediate variables during program operation, which wastes a lot of computing time and cannot be calculated in real time. In addition, the path planned by the above algorithm has many bends, and when it is used for the actual navigation reference route, the generated control instructions are relatively complicated, which leads to the unsatisfactory actual motion effect of the mobile robot.

Method used

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  • Method and system for planning nonlinear paths

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Experimental program
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Embodiment 1

[0068] see figure 1 , a nonlinear programming method provided by the embodiment of the present invention, combined with figure 2 The shown schematic diagram of modeling describes in detail the process of path planning based on the nonlinear programming method provided by the embodiment of the present invention.

[0069] A nonlinear programming method provided by an embodiment of the present invention specifically includes the following steps:

[0070] Step S100, perform modeling according to the current scene to obtain a reference coordinate system.

[0071] In the embodiment of the present invention, a two-dimensional scene is constructed according to the working area, and modeling is carried out in the two-dimensional scene, specifically: select any point in it as the origin O, select the right point from the origin as the x-axis, and The x-axis points vertically to the upside as the y-axis, and we get figure 2 The two-dimensional coordinate system shown. Wherein, the ...

Embodiment 2

[0141] Example 2: Please refer to Figure 8 , the present invention provides the present invention also provides a nonlinear path planning system, Figure 8 Shown is a schematic diagram of the overall framework of the nonlinear path planning system 100 of the present invention, the nonlinear path planning system includes a modeling module 110, a marking module 120, an analysis module 130, a turning point selection module 140, a reanalysis module 150 and a path generation module 160, of which

[0142] The modeling module 110 is used to perform modeling according to the current scene to obtain a reference coordinate system;

[0143] The marking module 120 is used to obtain obstacle information in the scene, and mark the obstacle area in the reference coordinate system;

[0144] The analysis module 130 is used to analyze the coincidence of the set path between the start point and the end point and the obstacle area;

[0145] The turning point selection module 140 is used to se...

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Abstract

The invention discloses a method for planning nonlinear paths. The method includes a modeling step: performing modeling according to scenes to obtain reference coordinate systems; a marking step: acquiring information of obstacles in the scenes and marking obstacle regions in the reference coordinate systems; an analysis step: analyzing coincidence conditions of the obstacle regions and set paths between starting points and ending points; a turning point selecting step: selecting turning points when coincidence points between the set paths and the obstacle regions are determined; a reanalysis step: resetting paths between the ending points and new starting points which are the selected turning points; a path generating step: sequentially connecting the starting points, the selected turning points and the ending points with one another to generate planned paths. The method for planning the nonlinear paths has the advantages that grid maps can be omitted, simple autonomous navigation control instructions can be generated by the aid of the planned paths, and accordingly the work efficiency and reliability can be effectively improved. The invention further provides a system for planning the nonlinear paths.

Description

technical field [0001] The present invention relates to the technical field of path planning, in particular to a nonlinear path planning method and system. Background technique [0002] With the development of robot technology, the intelligence level of robots has been significantly improved, among which autonomous path planning has become an indispensable and important function of mobile robots, mobile robots can autonomously avoid obstacles according to the specified goals and acquired environmental information , Perform path planning, and complete specified tasks. [0003] Mobile robot path planning mainly includes global path planning and local path planning. Among them, the global path planning means that the robot finds the optimal path from the starting point to the goal point to avoid obstacles according to the static global environment information. The basic problem involved is the description of the environment model and the search strategy; the local path plannin...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
Inventor 吴涌鹏
Owner 深圳中智永浩机器人有限公司