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Mobile robot route planning method based on distance grid map

A technology of distance grid map and mobile robot, applied in two-dimensional position/channel control and other directions, to achieve the effect of easy smooth processing

Inactive Publication Date: 2015-09-30
XIDIAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] The object of the present invention is to provide a mobile robot path planning method based on a distance grid map, which solves the problem of dynamic map update management based on a distance grid map and the problem of map construction and path planning under an unknown map

Method used

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  • Mobile robot route planning method based on distance grid map

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Embodiment Construction

[0077] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in combination with the embodiments of the present invention and the accompanying drawings. Obviously, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0078] In an embodiment of the present invention, a method for path planning of a mobile robot based on a distance grid map is developed using the Player / Stage platform. The Player / Stage mobile robot simulation platform is an excellent open source robot development and simulation software. The algorithms involved in this patent are all implemented based on this software. The software platform is divided into Player and Stage. Among them, Play...

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Abstract

The invention discloses a mobile robot route planning method based on a distance grid map. The mobile robot route planning method includes selecting front grids by a moving window method in the process of moving of a robot, updating the distance grid map, managing the front grids to be updated by an array management method during updating, and updating a control model of the mobile robot by an A*search algorithm in the mobile robot route planning method based on the distance grid map. The mobile robot route planning method based on the distance grid map is of great fundamental significance in high-ranking tasks like generating topological maps and planning a route in the unknown environment.

Description

technical field [0001] The invention relates to the field of path planning of a mobile robot, in particular to a path planning method for a mobile robot based on a distance grid map. Background technique [0002] In the short decades of development of mobile robots, obstacle avoidance and path planning algorithms have always been a hot topic for scholars to study, and this problem is also one of the key issues for the autonomy of intelligent mobile robots. How to conduct path planning without collision in an unknown and uncertain environment is a highly autonomous behavior, and there are many papers and algorithms in this direction every year. At present, the method of combining global path planning and local obstacle avoidance is generally adopted to realize the autonomous navigation of mobile robots. Among them, the more popular obstacle avoidance algorithms are based on Edge-Detection Method, Potential Field Methods, Virtual Force Field Method, and Vector Field Histogram...

Claims

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Application Information

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IPC IPC(8): G05D1/02
Inventor 张亮沈沛意宋娟刘静刘强强
Owner XIDIAN UNIV
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