Planning method for mixed path of mobile robot under multi-resolution barrier environment

Abstract

The invention discloses a planning method for a mixed path of a mobile robot under a multi-resolution barrier environment. The invention aims to solve the problems of blindness of initial planning, environment modeling lack of flexibility and poor real-time obstacle avoidance capability of the present method. According to the technical scheme, a self-adapting inhomogeneous polar-radius polar coordinate modeling method is adopted for performing environment modeling on the motion space of the mobile robot; a gravity particle swarm searching method is adopted for planning an initial overall path from starting point to ending point; according to the initial overall path, a modified artificial potential field method is adopted for performing local dynamic obstacle avoidance by estimating the minimum safe distance and safe collision-preventing angle and for arriving at each initial overall path point in turn; and a final overall collision-free path is output after arriving the planning end point. According to the planning method provided by the invention, the blindness of initial overall planning and the environment modeling flexibility can be effectively improved, the real-time obstacle avoidance capability for dynamic unknown barrier is strong, and the method is high in speed, high in precision and strong in adaptability.

Description

technical field [0001] The invention relates to the technical field of mobile robots, in particular to a mixed path planning method for a mobile robot under complex conditions where static and dynamic obstacles coexist and the obstacle distribution has the characteristics of multi-resolution. Background technique [0002] Path planning technology has always been one of the core contents of intelligent mobile robot research. It requires the robot to plan a path from the starting point to the end point that meets certain criteria (the shortest path length, etc.) Touch the safe path. Efficient and reliable path planning technology is the premise and basic requirement for robots to complete specific tasks. [0003] According to different degrees of environmental information acquisition, path planning methods can be divided into global planning methods relying on a priori known information and local planning methods relying on local perceptual information. In some path planning...

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Problems solved by technology

[0008] The technical problem to be solved by the present invention is to provide a hybrid path planning method for mobile robots in a dynamic environment with multi-resolution obstacles, which combines global path planning and local dynamic obstacle avoidance, and solves the blindness of initial planning existing in existing methods , Environmental modeling lacks flexibility and adaptability, and poor real-time obstacle avoidance ability for unknown dynamic or static obstacles

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