Biological excitation robot complete traverse path planning method based on backtracking search

A technology to stimulate robots and backtracking search, applied to biological neural network models, instruments, two-dimensional position/channel control, etc., can solve problems such as high path overlap rate in separation areas, non-optimal paths, and long waiting times

Active Publication Date: 2017-06-13
PEKING UNIV SHENZHEN GRADUATE SCHOOL +1
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Simon X.Yang(Chaomin Luo,Simon X.Yang.A BioinspiredNeural Network for Real-Time Concurrent Map Building and Complete CoverageRotot Navigation in Unknown Environment.IEEE TRANSACTIONS ON NEURAL NETWORKS,VOL.19,NO.7,JULY2008.) proposed A neural network algorithm based on biological stimulation. When the robot uses limited sensor information for path p

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  • Biological excitation robot complete traverse path planning method based on backtracking search
  • Biological excitation robot complete traverse path planning method based on backtracking search
  • Biological excitation robot complete traverse path planning method based on backtracking search

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[0049] Below in conjunction with meeting and example the present invention will be further described.

[0050] Such as figure 1 It is a flow chart of the bio-inspired complete traversal path planning method based on backtracking search of the present invention, including the following steps:

[0051] Step 1: Build a Raster Map

[0052] Such as figure 2 As shown, take the position of the geometric center before the robot starts to move as the origin, take the pointing of the robot before starting to move as the positive direction of the Y axis, and rotate 90 degrees clockwise as the positive direction of the X axis to establish the global coordinate system G(X G o G Y G ); taking the geometric center of the mobile robot as the origin, the moving direction of the robot is the positive direction of the Y axis, and rotating 90 degrees clockwise is the positive direction of the X axis, and the mobile coordinate system L(X L o L Y L ).

[0053] Transform the global coordin...

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Abstract

The invention discloses a biological excitation robot complete traverse path planning method based on backtracking search. The method is combined with the advantages of a biological excitation neural network algorithm, a backtracking algorithm and a D * (D star) algorithm to enable a robot to achieve complete transverse path planning in a complicated environment. The method specifically comprises the steps that 1, the biological excitation neural network model is used for simulating a dynamic environment to guide the reciprocating motion of the robot; 2, when the robot deadlocks, firstly, the backtracking algorithm is used for rapidly finding a target position for escaping from deadlocking, and then, and the D* algorithm is used for planning a shortest path from a current position to the target position. According to the biological excitation robot complete traverse path planning method based on the backtracking search, not only are the advantages kept that a path generated by the biological excitation algorithm is smooth and corner turning is less, but also the speed for the robot to escape from the deadlocking is increased, and therefore the robot is capable of covering a whole work space rapidly. According to the biological excitation robot complete traverse path planning method based on the backtracking search, a local minimum problem does not exist, the calculated amount is small, the implementation is simple, and a good adaptability exists in a dynamic unknown environment.

Description

technical field [0001] The invention designs a mobile robot complete traversal path planning method, in particular relates to a mobile robot complete traversal path planning method in a dynamic unknown complex environment. Background technique [0002] Complete traversal path planning in an unknown environment is an important problem in the autonomous navigation of mobile robots. This problem often exists in applications such as automatic sweeping robots, demining robots, and submarine mapping robots. Full traversal path planning requires the robot's footprint or sensor detection to cover the entire workspace. When the robot works in an unknown environment, in order to completely traverse the workspace, it is necessary to construct a map in real time and dynamically plan a path. [0003] Common methods for complete traversal path planning include artificial potential field method, template model method, A* algorithm, etc. The artificial potential field method is widely use...

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Application Information

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IPC IPC(8): G05D1/02G06N3/04
CPCG05D1/024G06N3/04
Inventor 刘宏黄伟波宋章军张国栋王芷吴观明
Owner PEKING UNIV SHENZHEN GRADUATE SCHOOL
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