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Path Planning Method for Mobile Robots Based on Learning Model of Dynamic Motion Primitives

A mobile robot and dynamic motion technology, applied in the direction of instruments, non-electric variable control, two-dimensional position/channel control, etc., can solve the problems of poor real-time performance and single task of mobile robots, and achieve the effect of improving efficiency

Active Publication Date: 2019-04-09
WUHAN UNIV OF SCI & TECH
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Problems solved by technology

[0007] The technical problem to be solved by the present invention is to propose a path planning method based on a dynamic motion primitive learning model in view of the poor real-time performance existing in the above-mentioned mobile robot path planning method and the problem that the mobile robot completes a single task

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  • Path Planning Method for Mobile Robots Based on Learning Model of Dynamic Motion Primitives
  • Path Planning Method for Mobile Robots Based on Learning Model of Dynamic Motion Primitives
  • Path Planning Method for Mobile Robots Based on Learning Model of Dynamic Motion Primitives

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Embodiment Construction

[0059] In order to further illustrate the technical scheme of the present invention, below in conjunction with Figure 1-5 The present invention will be described in detail.

[0060] Step 1: Simulate the two-dimensional environment interface of the robot movement, the robot on the interface is replaced by a small solid circle, and the obstacles are various plane figures; set the two-dimensional environment interface of the robot movement as a square (both length and width are 1m), The robot is replaced by a small solid circle with a diameter of 5mm.

[0061] Step 2: Use OPENCV (Open Source Computer Vision Library) to realize the control of the robot by the handle, so that the robot can avoid collision with obstacles from the starting point to reach the target point;

[0062] Step 2-1: Write a host computer software based on the MFC (Microsoft Foundation Classes) interface. This software can read the data of the robot handle. When the handle is pushed up and down or left and r...

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Abstract

The invention discloses a mobile robot path planning method based on a dynamic motion primitive learning model. The method includes: controlling the motion of a robot through a handle, and recording the motion track of the robot; then regarding the recorded track as a sample of the dynamic motion primitive model, performing training by employing the track sample and establishing the dynamic motion primitive model to obtain dynamic motion primitive model parameters and realize autonomous path planning of the robot; and on the basis, changing a target position of the motion of the robot to complete generalized promotion of a new target. According to the path planning method, the intelligence level of the mobile robot is improved, when the target position of the motion of the robot is changed, the robot can autonomously arrive at the new target position, the robot can complete not just a certain specified task but has the capability of generalized promotion for other tasks, and the efficiency of path planning is improved with the combination of online learning characteristics of the dynamic motion primitive model and an autonomous obstacle-avoiding function thereof.

Description

technical field [0001] The invention relates to the field of path planning for mobile robots, in particular to a path planning method for mobile robots based on a learning model of dynamic motion primitives. Background technique [0002] Path planning is one of the key technologies of mobile robots. To a certain extent, it marks the intelligence level of mobile robots. Being able to quickly find a convenient and collision-free path not only ensures the safety of the mobile robot itself, but also reflects the robot's Efficiency and reliability. [0003] At present, the commonly used robot path planning methods include artificial potential field method, fuzzy logic model, genetic and other models. The artificial potential field method is a relatively mature and efficient planning method in the path planning model, and is widely used for its simple mathematical calculation. However, the traditional artificial potential field method has problems such as local minimum points an...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/021
Inventor 陈洋姜明浩吴怀宇程磊李威凌谭艳平
Owner WUHAN UNIV OF SCI & TECH
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