Mobile robot full-coverage traversal chaotic path planning method

A mobile robot and path planning technology, applied in two-dimensional position/channel control, etc., can solve the problems of not taking into account the performance of chaotic planning methods, full coverage of the controllable range, traversal planning task completion efficiency, etc.

Inactive Publication Date: 2016-08-17
SHANDONG UNIV OF TECH
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  • Abstract
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Problems solved by technology

[0006] At present, the design of chaotic path planning methods mainly focuses on theoretical applications, and simply considers the index of completing tasks, withou...

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  • Mobile robot full-coverage traversal chaotic path planning method
  • Mobile robot full-coverage traversal chaotic path planning method
  • Mobile robot full-coverage traversal chaotic path planning method

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Embodiment Construction

[0068] In order to clearly illustrate the technical features of this solution, the present invention will be described in detail below through specific implementation modes and in conjunction with the accompanying drawings. The following disclosure provides many different embodiments or examples for implementing different structures of the present invention. To simplify the disclosure of the present invention, components and arrangements of specific examples are described below. Furthermore, the present invention may repeat reference numerals and / or letters in different instances. This repetition is for the purpose of simplicity and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. It should be noted that components illustrated in the figures are not necessarily drawn to scale. Descriptions of well-known components and processing techniques and processes are omitted herein to avoid unnecessarily limiting the...

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Abstract

The invention discloses a mobile robot full-coverage traversal chaotic path planning method. The method comprises the following steps: carrying out basic design of a mobile robot full-coverage traversal chaotic path; designing a distance evaluation index of adjacent sub-target points in a robot path planning locus; performing operation sub-space division on a work space of a robot; performing affine transformation on a chaotic kinetic equation in operation subspaces; designing a mixed iteration strategy; and carrying out iterative computation based on a given initial point. First of all, a basic chaotic plan planning method is designed, in order to enable the designed chaotic path planning method to be more feasible, then the mixed iteration strategy combining iteration of a whole work area with iteration of the sub-spaces divided by the work area is employed, traversal of the work space is realized, and the chaotic feature of the robot planning locus is maintained basically unchanged, such that the iteration step pitch of the mobile robot is effectively reduced and effective tracking of a robot controller is realized.

Description

technical field [0001] The invention relates to a path planning method for a mobile robot, in particular to a path planning method for a mobile robot full-coverage traversal chaos, and belongs to the technical field of path planning for robots. Background technique [0002] Since the birth of robots, great changes have taken place in the way of life and production in human society. In the past decade or so, due to the increasing application in various industries, autonomous mobile robots have become a research hotspot. In the research field of mobile robots, the real-time path planning of mobile robots is one of the key elements to reflect the autonomy of robots, and it is also one of the more difficult problems to solve, especially the global coverage path planning has a wide range of applications in practice, such as ground Cleaning, war reconnaissance, mine clearance, lawn mowing, spray painting robots, etc. Full-area coverage path planning is a special path planning in...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/02
Inventor 李彩虹宋勇王凤英王志强曲志坚李贻斌
Owner SHANDONG UNIV OF TECH
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