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Method for planning optimal path for incremental environment information sampling of indoor mobile robot

An optimal path planning and mobile robot technology, applied in the direction of non-electric variable control, instruments, motor vehicles, etc., can solve the problems of application limitations, calculation bottlenecks, high calculation complexity, etc., and achieve the goal of improving algorithm efficiency and reducing calculation time Effect

Active Publication Date: 2017-02-22
HUNAN UNIV
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Problems solved by technology

However, due to their high computational complexity, they are not suitable for solving robot planning problems in complex dynamic environments with multiple obstacles.
In addition, path planning algorithms based on forward graph search, such as A*, D* and neural dynamics, can meet the requirements of optimality and real-time performance during planning, but they deal with the computational bottleneck of high-dimensional problems. make its application have certain restrictions

Method used

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  • Method for planning optimal path for incremental environment information sampling of indoor mobile robot
  • Method for planning optimal path for incremental environment information sampling of indoor mobile robot
  • Method for planning optimal path for incremental environment information sampling of indoor mobile robot

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Embodiment Construction

[0050] The present invention will be further described below in conjunction with the accompanying drawings and specific implementation examples.

[0051] Such as figure 1 As shown, the present invention is an optimal path planning method for incremental environmental information sampling of an indoor mobile robot, including the following steps:

[0052] Step 1: Establish a probabilistic model for evaluating the collision risk of obstacles in the detected area;

[0053] Firstly, the surrounding environment information of the indoor mobile robot is obtained through the sonar sensor carried by the indoor mobile robot itself; secondly, the area passed by the indoor mobile robot is regarded as the detected area, and the obstacle collision of the detected area is established according to the surrounding environment information Risk assessment probability model, and update the assessment probability model of obstacle collision risk in the detected area in real time according to the ...

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Abstract

The invention discloses a method for planning an optimal path for incremental environment information sampling of an indoor mobile robot. The method comprises the following steps: (1) acquiring surrounding environment information, and establishing obstacle collision risk-based evaluation probability; (2) planning a path by utilizing an optimal path planning algorithm for the incremental environment information sampling; (3) enabling the indoor mobile robot to select the path and enter a new path planning process. By adopting the optimal path planning algorithm for the incremental environment information sampling, the current optimal path can be planned in real time according to the current conditions of the indoor mobile robot and the inherent nonholonomic constraints of the robot; meanwhile, a collision detection environment in a search tree extension process is optimized; the planning efficiency is improved; the indoor mobile robot can reach a specified position quickly and safely.

Description

technical field [0001] The invention belongs to the field of autonomous navigation of ground wheeled robots, in particular to an optimal path planning method for incremental environmental information sampling of an indoor mobile robot. Background technique [0002] With the rapid development of artificial intelligence technology and people's demand for high-quality life, robotics is now more and more valued by the business community and the corporate world, and it is gradually moving from industrial applications to people's lives. Mobile service robot is one of the most common life service robots, which can complete some service work that is beneficial to human health, such as housework and patient care. During service work, mobile service robots usually cannot obtain all environmental information in advance and may be in unpredictable or dynamically changing environments. Considering the limited environmental sensing equipment and the noise interference in the process of e...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0217
Inventor 王耀南陈彦杰钟杭谭建豪
Owner HUNAN UNIV
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