Mobile robot real-time layered path planning method based on grid map

A mobile robot, path planning technology, applied in two-dimensional position/channel control and other directions, can solve problems such as not a global path, no local minimum or oscillation problem, etc.

Inactive Publication Date: 2016-09-21
HARBIN UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This method focuses on the obstacle avoidance of mobile robots, but it does not solve the problem of local minima or oscillations caused by path planning usin

Method used

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  • Mobile robot real-time layered path planning method based on grid map
  • Mobile robot real-time layered path planning method based on grid map
  • Mobile robot real-time layered path planning method based on grid map

Examples

Experimental program
Comparison scheme
Effect test

specific Embodiment approach 1

[0030] Specific implementation mode one: Clarify the goal of the robot path planning and initialize it: the computer equipped with the mobile robot establishes and updates the grid map containing the external environment information in real time through the acquisition equipment, determines the starting point and target point of the plan, and applies the speed-based artificial potential field method and A The star algorithm is used for hierarchical path planning to ensure that the robot runs to the target point in real time, safely and stably.

specific Embodiment approach 2

[0031] Specific implementation mode two: This implementation is a further description of a real-time layered path planning method for mobile robots based on grid maps. When the size of the grid map is equal to When , the computational complexity of the A* path planning method can reach . If the grid granularity in this environment model is changed to half of the original, the grid scale will become , and the calculation amount will increase to . Therefore, although A* can guarantee to find an optimal path, it cannot guarantee the real-time motion of the mobile robot.

[0032] Although the velocity-based artificial potential field method is more suitable for real-time path planning due to its simplicity, local minimum phenomena and possible shocks will cause the robot to run unstable. Due to the nature of the potential field, if the parameters are not selected properly, the robot may ignore the physical contact and only regard it as the interaction of the field, and t...

specific Embodiment approach 3

[0034] Specific implementation mode three:This implementation is a further description of a real-time layered path planning method for mobile robots based on grid maps. The Euclidean distance of is inversely proportional, when the gravitational potential energy is zero, the mobile robot reaches the target point. The gravitational potential energy function is expressed as:

[0035] ;

[0036] in is the gravitational gain coefficient; Represents a vector whose size is the current position and target position Euclidean distance between , the direction of the vector is and The position on the line connecting the two positions from the robot position to the target point.

[0037] Then the gravitational force generated by the gravitational potential field is:

[0038] ;

[0039] gravitational direction and in the same direction.

[0040] The Euclidean distance between the repulsive potential energy and gravitational potential energy received by the mobile ...

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Abstract

The invention relates to a mobile robot real-time layered path planning method based on a grid map. The method, which is used in a grid map, comprises the following steps: carrying out binary classification according to external environment information, and establishing a grid map; planning an outer path according to a speed-based artificial potential field method; and when the path is about to fall into local minimum and oscillation, planning an inner path according to an A star algorithm. The problem that the traditional artificial potential field method may fall into local minimum and planned path oscillation and the problem that the A star algorithm is not applicable to real-time path planning are solved. Real-time, safe and stable operation of mobile robots is ensured.

Description

technical field [0001] The invention belongs to the field of path planning for mobile robots, and relates to a real-time layered path planning method for mobile robots based on a grid map. Background technique [0002] The path planning of a mobile robot refers to searching for a moving path that can complete a specified task in a workspace containing obstacles according to a certain evaluation index. The description methods of the working environment of mobile robots mainly include grid map, topological map, geometric map and the hybrid map of the above maps. Grid Figure 1 It generally refers to dividing the external environment with square grids of equal or different sizes, and dividing the grid into binary values ​​according to whether the grid area is occupied by obstacles. This modeling method is convenient for computer storage and batch processing, because it is currently the most widely used map building method. [0003] The path planning of mobile robots can be ma...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/02
Inventor 尤波李智丁亮高海波许家忠李东洁王明睿张乐超
Owner HARBIN UNIV OF SCI & TECH
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