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A route planning method for a mobile robot

A mobile robot and route planning technology, applied in the field of mobile robots, can solve problems such as inflexibility and achieve the effect of simple operation

Active Publication Date: 2019-11-01
ZHEJIANG GUOZI ROBOT TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

But this kind of route planning makes the stop point of the robot need to be set at the node, which is not flexible enough

Method used

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  • A route planning method for a mobile robot
  • A route planning method for a mobile robot
  • A route planning method for a mobile robot

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Embodiment Construction

[0021] The present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments.

[0022] like Figure 1-5 As shown, the present invention discloses a route planning method for a mobile robot, comprising the following steps:

[0023] Step 1, searching for a feasible route according to the moving target of the robot and the node attributes on the map;

[0024] Step 2, determine the optimal route according to the weight value of the line segment in all feasible routes, the line segment is an arbitrary curve composed of Bezier curves or spline curves of multiple control points;

[0025] Step 3, drive the robot to move along the optimal route and stop at the stop.

[0026] In step 1, the node attributes include rotatable attributes and non-rotatable attributes, and the robot can rotate in situ at the nodes with rotatable attributes, so as to switch line segments and search for feasible routes.

[0027] If the angle b...

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Abstract

The invention provides a route planning method of a mobile robot. The method comprises the following steps: 1. searching for feasible routes according to the moving target of the robot and node properties on the map; 2. determining the optimal route according to the line segment weight values of all the feasible routes, wherein each line segment is any curve composed of Bezier curves or spline curves of a plurality of control points; and 3. driving the robot to move along the optimal route and stop at the stop point. According to the route planning method, the rotary properties of the nodes are added to greatly increase the communication modes among the nodes, thereby avoiding the single connection mode between every two nodes. The weight properties of the line segments are added, so that the shortest route can be quickly determined according to the lengths of the line segments; and the line segment weight value can be adjusted to regulate the moving route of the robot according to needs, which is simple to operate. By using the method, the robot can stop in any position on the line segment without the increase of nodes which can influence the road segment configuration of the map.

Description

technical field [0001] The invention relates to the field of mobile robots, in particular to a route planning method for a mobile robot. Background technique [0002] Most of the current mobile robots carry out path planning based on the existing map, configure the corresponding route, cooperate with the positioning system based on the map, so that the mobile robot can move along the corresponding route and finally stop at the target point position on the designated route . [0003] Routes are composed of nodes and lines. Any two nodes can be connected to form a line, and multiple lines can be connected to form a graph. At present, most mobile robots search for a path from one point in the graph to reach another point in the graph. . However, this route planning makes the robot's stops need to be set at the nodes, which is not flexible enough. Contents of the invention [0004] In order to solve the above problems, the present invention provides a route planning method ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/34G05D1/02
CPCG01C21/3415G05D1/0219
Inventor 陈凯陶熠昆杜鑫峰沈继中朱玲芬郑洪波王霞宓旭东
Owner ZHEJIANG GUOZI ROBOT TECH
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