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Mobile robot path planning and obstacle avoidance method and system

A mobile robot and path planning technology, applied in control/regulation systems, instruments, non-electric variable control, etc., can solve the problems of unsuitable local planning in dynamic environments and easy loss of target points, etc., to improve path search efficiency and storage space Small, realize the effect of autonomous navigation

Inactive Publication Date: 2016-09-21
TCL CORPORATION
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The technical problem to be solved by the present invention is to provide a mobile robot path planning and obstacle avoidance method and system for the inapplicability of the global path planning of the existing robot to the dynamic environment and the problem that the local planning is easy to lose the target point

Method used

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  • Mobile robot path planning and obstacle avoidance method and system
  • Mobile robot path planning and obstacle avoidance method and system
  • Mobile robot path planning and obstacle avoidance method and system

Examples

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Embodiment 1

[0061] figure 1 The path planning and obstacle avoidance methods of the mobile robot in this embodiment are shown. Such as figure 1 As shown, the mobile robot path planning and obstacle avoidance method includes the following steps:

[0062] S11: Create a two-dimensional grid map using known obstacle environment information. In this embodiment, a two-dimensional array is used to store the existing obstacle environment information, and a two-dimensional grid map is established. In the two-dimensional grid map, 1 represents an obstacle grid with obstacles, and 0 represents a freedom without obstacles. grid. Wherein, the two-dimensional grid map may be pre-input manually. Understandably, it can also be combined with mapping and positioning technology to establish a two-dimensional grid map through slam (Simultaneous Localization and Mapping, real-time positioning and map construction), and set the position that the mobile robot has passed to 0, and the position that has not p...

Embodiment 2

[0068] figure 2 The path planning and obstacle avoidance methods of the mobile robot in this embodiment are shown. Such as figure 2 As shown, the mobile robot path planning and obstacle avoidance method includes the following steps:

[0069] S21: Create a two-dimensional grid map by using known obstacle environment information. In this embodiment, a two-dimensional array is used to store the obstacle environment information and establish a two-dimensional grid map. In the two-dimensional grid map, 1 indicates an obstacle grid with obstacles, and 0 indicates a free grid without obstacles. grid. Wherein, the two-dimensional grid map may be pre-input manually. Understandably, it can also be combined with mapping and positioning technology to establish a two-dimensional grid map through slam (Simultaneous Localization and Mapping, real-time positioning and map construction), and set the position that the mobile robot has passed to 0, and the position that has not passed The...

Embodiment 3

[0099] Figure 8 The path planning and obstacle avoidance system of the mobile robot in this embodiment is shown. Such as Figure 8 As shown, the mobile robot path planning and obstacle avoidance system includes:

[0100] Map building unit 10: used to create a two-dimensional grid map using known obstacle environment information. In this embodiment, a two-dimensional array is used to store the existing obstacle environment information, and a two-dimensional grid map is established. In the two-dimensional grid map, 1 represents an obstacle grid with obstacles, and 0 represents a freedom without obstacles. grid. Wherein, the two-dimensional grid map may be pre-input manually. Understandably, it can also be combined with mapping and positioning technology to establish a two-dimensional grid map through slam (Simultaneous Localization and Mapping, real-time positioning and map construction), and set the position that the mobile robot has passed to 0, and the position that has ...

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Abstract

The invention discloses a mobile robot path planning and obstacle avoidance method and system. The mobile robot path planning method comprises the following steps: establishing a two-dimensional grid map by utilizing known obstacle environment information; in the two-dimensional grid map, establishing a global coordinate system at the place of a mobile robot, and setting a starting point and a terminal point of the mobile robot; determining the shortest path between the starting point and the terminal point through a jump point search algorithm, wherein the shortest path comprises a plurality of local target points connected in sequence; and in the process of controlling the mobile robot to move to each of the local target points, utilizing a local obstacle avoidance algorithm to avoid a dynamic obstacle. The mobile robot path planning and obstacle avoidance method adopts the jump point search algorithm to obtain the shortest path quickly, so that path search efficiency can be improved, and storage space is saved; and through the local obstacle avoidance algorithm, accuracy and real-time performance of mobile robot path planning and obstacle avoidance can be ensured, and autonomous navigation of the mobile robot is realized.

Description

technical field [0001] The invention relates to the technical field of robot obstacle avoidance, in particular to a method and system for path planning and obstacle avoidance of a mobile robot. Background technique [0002] In recent years, with the rapid development of computer technology and sensor technology, mobile robot technology has also developed rapidly. Due to the characteristics of intelligence, autonomy, high efficiency and convenience, mobile robots are playing an increasingly important role in many fields such as industry, agriculture, and aerospace. As the key technology in navigation research, path planning and obstacle avoidance are an important symbol of the intelligence of mobile robots. Mobile robot path planning and obstacle avoidance refers to selecting a path from the starting point to the goal under the condition of environmental obstacles, so that the mobile robot can pass through all obstacles safely and without collision. [0003] At present, res...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0221
Inventor 张海燕
Owner TCL CORPORATION
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