Motion path planning method

A motion path and planning technology, applied in non-electric variable control, two-dimensional position/channel control, vehicle position/route/height control, etc., can solve the problem of tractor and trailer folding, extrusion, and path tracking control methods. The same problem, to achieve the effect of avoiding folding
CN106569496AActive Publication Date: 2017-04-19708TH RES INST OF CSSC +1
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
708TH RES INST OF CSSC
Publication Date
2017-04-19

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Abstract

The invention relates to the technical field of robot path planning and particularly relates to a motion path planning method. The method comprises the steps of establishing a system model of a tractor-towing trailer and extracting the state information of a pull-type mobile robot; expanding new nodes according to a pre-set step with an adjacent point as a starting point; tracking a desired path segment formed through tangential fitting and calculating the state information of the new nodes; judging whether the path tracking process satisfies a preset included angle constraint condition or not, and adding new nodes and the state information of the new nodes into a node tree, wherein the added new nodes satisfy the included angle constraint condition; then returning till a complete node tree containing a full path and one new node as a target point is formed; optimizing the full path to form an optimized path; and adopting the optimized path as the motion path of the pull-type mobile robot. According to the technical scheme of the invention, the path planning for the pull-type mobile robot can be realized. The folded and extruded phenomena of tractors and trailers are avoided.
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Description

technical field

[0001] The invention relates to the technical field of path planning, in particular to a method for planning a motion path. Background technique

[0002] Path planning means that the robot automatically searches out a collision avoidance, optimal or suboptimal path from the initial state to the target state from the environment. The commonly used implementation methods include artificial potential field method, genetic algorithm, rapid-exploring random tree algorithm (Rapid-exploring Random Tree, RRT for short) and so on. The research on path planning is usually applied to the single robot system. Due to the complexity of the constraints and control conditions of the towed robot system, the general path planning algorithm cannot meet the actual needs. The rapid expansion random tree algorithm is a typical tree structure algorithm of random sampling, which is constructed in a specific incremental way. Its basic idea is that the growth mode of the random tree ...

Claims

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