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Mobile robot path planning method and system

A mobile robot, path planning technology, applied in the direction of navigation calculation tools, etc., can solve the problems such as the twists and turns of the line are not smooth enough, the direction is adjusted frequently, and the path is close to obstacles.

Active Publication Date: 2017-05-17
深圳优地科技有限公司
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  • Abstract
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  • Claims
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AI Technical Summary

Problems solved by technology

[0005] In view of this, an embodiment of the present invention provides a method for path planning of a mobile robot to solve the problem that the path generated by the existing algorithm has twists and turns that are not smooth enough, and the path is close to obstacles, which causes the robot to frequently adjust when moving along the path. The problem of moving towards and against the wall

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  • Mobile robot path planning method and system
  • Mobile robot path planning method and system
  • Mobile robot path planning method and system

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Embodiment Construction

[0025] In order to make the purpose, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described The embodiments are only some of the embodiments of the present invention, but not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0026] It should be understood that in each embodiment of the present invention, the size of the serial number of each process does not mean the order of execution, and the execution order of each process should be determined by its function and internal logic, rather than the implementation process of the embodiment of the present...

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Abstract

The invention provides a mobile robot path planning method and system. The method comprises the following steps: starting a mobile robot through a starting unit, reading and loading an electronic map with coordinate information, reading a preset track configuration file by a file reading unit, generating a parallel virtual track within the preset distance according to the track configuration file by a virtual track generation unit, and determining the path of the mobile robot by a path determination unit according to the current position and target position of the mobile robot and the generated virtual track. After the parallel virtual track within the preset distance on the electronic map with coordinate information is generated according to the artificially preset track configuration file, the path of the mobile robot moving from the current position to the target position via the virtual track is determined according to the current position and target position of the mobile robot and the generated virtual track, thereby preventing the mobile robot from moving closely along the wall surface or impediment, and enhancing the motion efficiency of the mobile robot.

Description

technical field [0001] The invention relates to the technical field of mobile robot path planning, in particular to a robot path planning method and system. Background technique [0002] With the rapid development of robot technology, especially mobile robot technology, it provides great convenience for people's life, for example, the use of mobile robot for delivery of goods, security inspection, guest guidance and so on. All of these require the robot to use the existing electronic map data to navigate from the starting point to the target point. During the navigation process, guiding the robot to calculate and dynamically avoid obstacles is the key issue of the navigation task. [0003] The A-star algorithm, Dijstra algorithm (Dijstra algorithm), etc. in the existing path planning methods are based on the electronic map of the grid format with the map resolution as the unit, starting from the initial point grid of the robot, and going outward eight In the direction (up, ...

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Application Information

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IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 曹立冬李超焦小亮刘文泽夏舸
Owner 深圳优地科技有限公司
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