Mobile robot indoor route planning method based on array map

A mobile robot and path planning technology, applied in the direction of instruments, motor vehicles, non-electric variable control, etc., can solve the problems of unfavorable implementation, large time and space complexity, high cost, etc., to achieve less hardware cost resources, easy to implement, The effect of reducing human resources

Inactive Publication Date: 2016-06-08
BEIJING UNIV OF TECH
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AI Technical Summary

Problems solved by technology

For the unknown environment, the existing methods either first use multi-sensors to generate a grid map, and then use the A* algorithm for path planning, which is expensive and not conducive to implementation; or based on partially known maps, first perform global path planning, and then In the process of autonomous navigation, obstacle avoidance, re-path planning, and autonomous navigation are repeated until the target point is reached. The time and space complexity is large, and real-time performance cannot be guaranteed.

Method used

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  • Mobile robot indoor route planning method based on array map
  • Mobile robot indoor route planning method based on array map
  • Mobile robot indoor route planning method based on array map

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Experimental program
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Embodiment Construction

[0048] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0049] The bottom size of the robot is 65cm*50cm, and the height is 100cm. The grid defined by the experimental environment is a 60cm*60cm square. It can be seen that the size of the bottom area of ​​the robot is similar to the size of the grid, which lays a good foundation for the experimental effect.

[0050] Step 1: Train the basic step size of the robot's indoor movement and the rotation radius of turning left and right;

[0051] Step 2: Set the size of the initial default map according to the indoor environment;

[0052] Step 3: Connect the robot control program, set the starting point and end point of robot navigation, and start the robot's autonomous navigation;

[0053] Step 4: Based on the above path planning algorithm, the robot searches for the local optimal point at the four grid positions with a step size of 1 in the neighborhood...

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Abstract

Provided is a mobile robot indoor route planning method based on an array map. A map expression method involves a geographic map, a point cloud map, a topological map, a grid map and the like. The grid map divides the environment into a series of grids, wherein a probable value is given to each grid to express the occupation probability of the grid. On the basis of the concept of the grid map, the special situation of the grid map is used, an appropriate change is made in the map establishing process, and the concept of the array map is put forward. On the basis of the array map, route planning is conducted through an A* algorithm; meanwhile, in the robot moving process, real-time data is obtained according to a carried laser sensor, and the array map is dynamically upgraded.

Description

technical field [0001] The invention belongs to the field of autonomous movement of robots, and relates to a path planning and autonomous navigation method of a mobile robot equipped with a laser ranging sensor. Background technique [0002] Intelligent mobile robot is a kind of robot system that can perceive the environment and its own state through sensors and other technologies, and realize the goal-oriented autonomous navigation movement in the environment with obstacles, so as to complete the predetermined task. [0003] Localization of mobile robots has been widely studied as the most fundamental problem in the field of robotics research. With its excellent performance, GPS has become a commonly used positioning system for outdoor positioning and navigation of mobile robots, but when the mobile robot is placed in an indoor environment, GPS is not suitable. On the one hand, indoor positioning generally requires higher positioning accuracy (cm level); on the other hand,...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0274G05D2201/0212
Inventor 李玉鑑王春生
Owner BEIJING UNIV OF TECH
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