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Robot path planning method and device in indoor dynamic environment and robot

A dynamic environment and path planning technology, applied in the field of robotics, can solve problems such as insufficient environmental information, inability to adapt to changing environments, and easy loss of targets

Inactive Publication Date: 2017-05-31
ANKE SMART CITY TECH PRC
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0008] The present invention aims at the global path planning algorithm adopted by the prior art robot when planning the path because the obtained environmental information is not perfect enough to adapt to the changing environment; and the local path planning of the robot is real-time, but due to the lack of global information, it is easy to lose the target As well as the technical problem of falling into deadlock, a robot path planning method, device and robot in an indoor dynamic environment are provided. The technical solution is as follows:

Method used

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  • Robot path planning method and device in indoor dynamic environment and robot
  • Robot path planning method and device in indoor dynamic environment and robot
  • Robot path planning method and device in indoor dynamic environment and robot

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Embodiment 2

[0104] The embodiment of the present invention also provides a robot path planning device 200 in an indoor dynamic environment, such as Figure 6 As shown, it includes a global cost map establishment module 210 , an origin and destination setting module 220 , a path determination module 230 and a local obstacle avoidance control module 240 .

[0105] A global cost map establishment module 210, configured to establish a global cost map containing points with different path cost values ​​according to known obstacle environment information and obstacle expansion information, wherein the path cost values ​​of the points reflect that the points are obstructed The probability of object occupation, the path distance between the point and the adjacent point, and the distance between the point and the nearest obstacle;

[0106] The starting and ending point setting module 220 is used to set the starting point and target point of the robot in the global cost map;

[0107] The path dete...

Embodiment 3

[0123] The embodiment of the present invention also provides a robot 300, such as Figure 7 As shown, it includes a fuselage 310 and a processor 320, the processor 320 is installed in the fuselage, and the processor 320 is used for:

[0124] According to the known obstacle environment information and obstacle expansion information, a global cost map containing points with different path cost values ​​is established, wherein the path cost value of the point reflects the probability that the point is occupied by obstacles, the point and The path distance of adjacent points and the distance between the point and the nearest obstacle;

[0125] Setting the starting point and target point of the robot in the global cost map;

[0126] Calculating the minimum global path of the sum of path cost values ​​between the starting point and the target point by using a jump point search algorithm;

[0127] In the process of controlling the robot to move along the minimum global path of the ...

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Abstract

The invention relates to the technical field of robots, in particular to a robot path planning method and device in an indoor dynamic environment and a robot. Known obstacle environment information and obstacle expansion information are taken as reference in global path planning, a local path is generated according to dynamic obstacle information and obstacle expansion information in local path planning, is spliced with a global path with the minimum path cost value sum and replaces the global path with the minimum path cost value sum in a local window to obtain a target obstacle avoidance path, and the robot is controlled with a path fitting control algorithm to move along the target obstacle avoidance path so as to avoid dynamic obstacles. The obstacle environment information acquired in the global path planning is more complete, global environment is taken into consideration in the global path with the minimum path cost value sum, and the local path is generated according to the dynamic obstacle information and the obstacle expansion information in the local path planning, so that the robot can adapt to the changing environment during operating in the local window and is enabled to walk along the finally planned target obstacle avoidance path.

Description

[0001] 【Technical field】 [0002] The invention relates to the technical field of robots, in particular to a robot path planning method, device and robot in an indoor dynamic environment. [0003] 【Background technique】 [0004] The path planning of an indoor mobile robot refers to finding a collision-free path from the initial state to the target state in an indoor environment with obstacles and according to certain evaluation criteria. In the indoor dynamic environment, the obstacles in the corresponding environment will change, and this situation has higher requirements for path planning. [0005] The indoor environment of the robot is represented by maps, and there are generally four types of maps: grid maps, feature maps, topological maps, and direct representations. The grid map divides the environment into a series of grids, and each grid is given a possible value, indicating the probability of the grid being occupied; the feature map uses related geometric features suc...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0217
Inventor 陈冬梅张思民李涛
Owner ANKE SMART CITY TECH PRC
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