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Service robot optimal path program method based on heuristic function

A technology for optimal path planning and service robots, applied in data processing applications, forecasting, computing, etc., can solve problems such as poor accuracy and low efficiency, and achieve the effect of reducing search space, narrowing search space, and avoiding repeated visits

Inactive Publication Date: 2016-08-10
PASSION & INNOVATION TECH SHANGHAI CO
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Problems solved by technology

[0024] To sum up, the purpose of the present invention is to consider the complexity of the actual map environment, solve the technical problems of low efficiency and poor search accuracy of the currently commonly used optimal path planning methods, and propose an optimal solution for service robots based on heuristic functions. path planning method

Method used

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  • Service robot optimal path program method based on heuristic function
  • Service robot optimal path program method based on heuristic function
  • Service robot optimal path program method based on heuristic function

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Embodiment Construction

[0046] The path planning method of the present invention will be further described below in conjunction with the accompanying drawings.

[0047] The present invention adopts the A-Star algorithm of the improved heuristic function

[0048] Considering the complexity of the actual map environment, the heuristic function used in the present invention includes two factors of direction and distance:

[0049] H ~ ( n ) = α 1 · θ + α 2 · D

[0050] D=max(|n(x)-goal(x)|,|n(y)-goal(y)|)

[0051] In the formula, α 1 is the direction heuristic factor, which determines the weight of the direction information; θ is the angle between the vector formed by the candidate node and the starting point and the vector formed by the end point and the starting point, which reflects ...

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Abstract

The invention relates to a service robot optimal path program method based on the heuristic function, belongs to the technical field of a path program method in a mobile service robot navigation system and solves problems of low efficiency and poor searching accuracy existing in a currently-used optimal path program method in the prior art. According to the method, an A-Star algorithm of an improved heuristic function is employed, as the direction angle and the distance have different physical dimensions, normalization processing on the corresponding distance and the corresponding direction angle of each associated node is carried out, repeated access to one same node is avoided, the searching space is greatly reduced, and the algorithm operation time is shortened. According to the method, the heuristic function contains two factors of the direction and the distance, as the direction angle and the distance have different physical dimensions, normalization processing on the distance and the direction is proposed, searching efficiency is improved, and the optimal path is programmed.

Description

technical field [0001] The invention relates to the technical field of path planning methods in a mobile service robot navigation system. Background technique [0002] Looking at the world today, the level of robot research, development and manufacturing marks the comprehensive scientific and technological strength of a country or region. The new type of robot, which gathers the world's high, precise and cutting-edge scientific and technological achievements and theories, embodies the cutting-edge technology level of a country and nation. With the continuous maturity and development of manufacturing technology, computer technology, sensor technology, information processing technology, artificial intelligence theory, etc., robot research has developed into a temporary new stage. As an important branch of service robots, various types of service robots are being developed to meet the needs of various fields of national economy and national defense construction such as family,...

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Application Information

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IPC IPC(8): G06Q10/04
CPCG06Q10/047
Inventor 栾毓敏
Owner PASSION & INNOVATION TECH SHANGHAI CO
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