Mobile robot path planning method in complex environment

A mobile robot and path planning technology, applied in the direction of instruments, two-dimensional position/channel control, adaptive control, etc., to achieve the effects of improving operating efficiency, accurate operation, improving computing efficiency and convergence speed

Inactive Publication Date: 2015-04-15
SHENYANG POLYTECHNIC UNIV
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AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to solve the deficiencies in the prior art, disclose a mobile robot path planning method in a complex environment combining artificial immune algorithm and visual graph, and apply it to solve the problem of mobile robot path planning, In the case of ensuring convergence to the global optimal solution, the operating efficiency and convergence speed of the algorithm are effectively improved

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  • Mobile robot path planning method in complex environment
  • Mobile robot path planning method in complex environment
  • Mobile robot path planning method in complex environment

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Embodiment Construction

[0038] Such as figure 1 As shown, the mobile robot path planning method in the complex environment of the present invention comprises the following steps:

[0039] Step 1: Obtain the environment information of the robot. After processing, the obstacles in the environment space are represented by rectangular bounding boxes, and displayed in the human-computer interaction module.

[0040] This step uses a physical robot to perform roaming operations in an unknown environment. The physical robot is composed of a computer control module, a sensor module, a communication module, a power supply and a drive module, and a moving chassis module. Its size is 480*460*440mm. At the rear, there are three sets of infrared and ultrasonic sensors for sensing environmental information. The robot adopts the left and right wheel independent motor drive mode, which can realize indoor and outdoor movement.

[0041] During the roaming process, the physical robot uses ultrasonic sensors to detect ...

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Abstract

The invention provides a mobile robot path planning method in a complex environment. The method is characterized in that 1. information of environment in which a robot is positioned is acquired, and obstacles in the environmental space are indicated by using rectangular enclosing boxes after processing and displayed on a human-computer interaction module; 2. the initial position of the robot is confirmed and recorded as an initial point; a target position expected to be reached by the robot is confirmed and recorded as a target point; 3. the initial point, the target point and the vertexes of all the obstacle enclosing boxes meeting the condition are connected by using line segments, wherein the requirement indicates that the connecting line of any two points does not penetrate through the enclosing boxes, based on which a visual graph is constructed; 4. the optimal path is planned in the visual graph via an artificial immune algorithm, and key nodes in the optimal path are stored; and 5. The entity robot is controlled to start from the initial point, pass the key nodes in the optimal path one by one and finally reach the target point. Algorithm efficiency and convergence rate can be effectively enhanced under the premise of guaranteeing solution of the optimal path.

Description

technical field [0001] The invention relates to a method for a physical robot to complete robot path planning and actual operation in a complex real environment, in particular to a method for path planning of a mobile robot in a complex environment that combines an artificial immune algorithm with a visual map, and belongs to robot navigation , Intelligent technology application field. The invention can be widely used in path planning problems of industrial robots, agricultural robots, military robots and service robots. Background technique [0002] Path planning for mobile robots is one of the research hotspots in the field of robotics. It refers to finding a path from the initial state to the end of the robot according to certain performance evaluation criteria (such as time, distance, energy, etc.) in an environment space containing obstacles. Collision-free optimal or suboptimal paths for states. At present, it has played a basic role in many fields such as fixed-poin...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02G05B13/04
Inventor 段勇王猛许晓龙
Owner SHENYANG POLYTECHNIC UNIV
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