Robot path planning method based on elliptical tangent line structure

Abstract

The invention belongs to the field of autonomous path planning of robots and provides a robot path planning method based on an elliptical tangent line structure. According to the method disclosed by the invention, an obstacle area is encircled by virtue of an ellipse, binary searching of the path is performed by utilizing tangent line generation of points to the ellipse, and the searched path is subjected to smooth transition by virtue of an arc edge of the ellipse. The method comprises the following steps: bad point rejection and cost map generation on the acquired data, performing minimum encircling ellipse generation and other operations on a specific obstacle area, performing a series of processing such as tangent line generation of points to the ellipse, approximate common tangent generation of the ellipse to ellipse and the like, obtaining all alternate paths from an initial point to a target point, and finally selecting the optimal path through a cost function. According to the path planning method provided by the invention, the problems in the traditional method that the calculated quantity is great, the path is not smooth enough and the like are solved, an optimal and smooth path can be obtained in less time, and the application requirement on rapid path planning in a two-dimensional robot space can be met.

Description

technical field [0001] The invention belongs to the field of robot autonomous path planning, and in particular relates to a robot path planning method based on ellipse tangent structure. Background technique [0002] With the continuous advancement of modern technology, robot technology has achieved rapid development, and the application of robots in life and production has become more extensive. As an important part in the field of mobile robot technology, autonomous path planning is particularly important. Path planning for mobile robots means that in an environment with obstacles, the robot refers to certain criteria, such as the shortest path, the minimum number of turns, etc., to find an optimal safe collision-free path from the starting point to the end point. [0003] The existing path planning methods can be divided into two categories according to the robot's perception of environmental information: global path planning methods and local path planning methods. Glo...

AI Technical Summary

Problems solved by technology

Compared with the circle, the ellipse can better describe the obstacle area, and the ellipse tangent construction method does not perform a grid search on the map, but only generates the minimum enclosing ellipse for some obstacle areas, which reduces the amount of calculation. At the same time, the ellipse The arc edge can assist the smooth path, overcome the traditional method of large amount of calculation, the path is not smooth enough, etc., can get a better and smooth path in less time, and can meet the application requirements of fast path planning in the two-dimensional space of the robot

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