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

Active Publication Date: 2017-04-19
708TH RES INST OF CSSC +1
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Problems solved by technology

[0003] The towed robot system can be divided into off-axis type and coupling type according to the connection mode, and can be divided into forward vehicle and reverse vehicle according to the motion characteristics. Due to the complexity of the system structure, the path tracking control methods of the system are different under different working conditions. Not the same, especially for off-axis reversing systems, which are usually prone to folding and squeezing of the tractor and trailer

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Embodiment Construction

[0040] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0041] In a preferred embodiment, as figure 1 As shown, a motion path planning method is proposed, which can be applied to a trailer-type mobile robot. The trailer-type mobile robot can include such as figure 2 A tractor and a trailer are shown, and the tractor pulls the trailer to move towards a target point; the planning method may include:

[0042] Step S1: Establish the system model of the tractor towing the trailer and extract the initial state information of the trailer-type mobile robot;

[0043] Step S2: Select a random direction point, and select the node closest to the random direction point as a neighboring point, and use the neighboring point as a starting point to expand new nodes according to a preset step size;

[0044] Step S3: Perform tangential fitting on the adjacent points and the new node to form a desired path segment, and perfo...

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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.

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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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0295
Inventor 方晓波钱宏
Owner 708TH RES INST OF CSSC
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