Improvement method used for planning robot paths

Abstract

The invention provides an improvement method used for planning robot paths. The method comprises the following steps: step 1, planning of bidirectional paths: planning the paths by an A* algorithm respectively according to a direction from a starting point to a target point and a direction from the target point to the starting point and reserving the two groups of planned paths; step 2, setting and moving of a key point: finding an intersection of the two groups of planned paths, and one of two points, which are farthest from a barrier, on the two groups of planned paths, wherein the two points are nearest to the barrier, and investigating the distance from the point to the barrier and determining the point as the key point if the distance is greater than or equal to the standard set distance threshold; if the distance is not greater than or equal to the standard set distance threshold, moving the point to a location point along the planned path, wherein the distance from the location point to the barrier is just equal to the set distance threshold, and determining the location point as the key point; step 3, segmented planning of the paths.

Description

technical field [0001] The invention relates to a robot path planning method, in particular to an improved path planning method aiming at the A* algorithm. Background technique [0002] With the development of robot technology, there are more and more applications of robots, and mobile robots have attracted extensive attention because they can more flexibly participate in the space of human life and work. [0003] The robot moves freely in space, that is, the robot navigates autonomously. Its realization requires the robot to be able to plan a feasible and reasonable path based on the map of its space and the given starting point and target point. [0004] Therefore, the path planning method of the robot has become an important guarantee for realizing the autonomous navigation of the robot. The current robot path planning method is the A* algorithm, which uses a heuristic search method to search from the starting point to the target point on the basis of rasterized map data...

AI Technical Summary

Problems solved by technology

[0005] However, the path planned by the current A* algorithm still has problems in some cases.

When planning a path, the A* algorithm usually gets close to the existing obstacles in the map that prevent the robot from moving forward, so as to meet the requirements of the heuristic function in the algorithm, but this usually makes the robot tend to walk closer to the obstacles when actually walking, Therefore, the robot needs to spend a lot of time, computing resources and energy in obstacle avoidance.

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