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A robot variable grid map path planning optimization method and system

A grid map and robot technology, applied in control/regulation systems, instruments, non-electric variable control, etc., can solve the problems of large storage space occupied by maps, slow moving speed of robots, and low efficiency of path planning, etc., and achieve global synthesis The effect of optimal speed, improved search efficiency, and short path distance

Active Publication Date: 2017-11-28
HUAZHONG UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] Aiming at the above defects or improvement needs of the prior art, the present invention provides a robot variable grid map path planning optimization method and system, the purpose of which is to use the real-time grid size to update the original grid map to obtain a real-time grid map. Advance in the real-time grid map, thereby solving the technical problems of the existing technology such as low efficiency of path planning, excessive storage space occupied by the map, and slow moving speed of the robot.

Method used

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  • A robot variable grid map path planning optimization method and system

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Embodiment 1

[0039] A robot variable grid map path planning optimization method, comprising:

[0040] (1) Using the original grid map, plan the global path from the initial position of the robot to the target point according to the initial position of the robot, the target point and obstacles;

[0041] (2) When the robot is traveling on the global path, obtain the real-time obstacle distance between the robot and the obstacle, and the real-time target distance between the robot and the target point, and then use the minimum value of the real-time obstacle distance and the real-time target distance to obtain the real-time grid grid size;

[0042] (3) Utilize the real-time grid size to update the original grid map to obtain a real-time grid map, and the robot moves forward in the real-time grid map until it reaches the target point.

[0043] Further, step (2) includes:

[0044] (2-1) Obtain the real-time obstacle distance between the robot and the obstacle, and the real-time target distanc...

Embodiment 2

[0049] A robot variable grid map path planning optimization method, comprising:

[0050] (1) Using the original grid map, plan the global path from the initial position of the robot to the target point according to the initial position of the robot, the target point and obstacles;

[0051] (2) When the robot is traveling on the global path, obtain the real-time obstacle distance between the robot and the obstacle, and the real-time target distance between the robot and the target point, and then use the minimum value of the real-time obstacle distance and the real-time target distance to obtain the real-time grid grid size;

[0052] (3) Utilize the real-time grid size to update the original grid map to obtain a real-time grid map, and the robot moves forward in the real-time grid map until it reaches the target point.

[0053] Further, step (2) includes:

[0054] (2-1) Obtain the real-time obstacle distance between the robot and the obstacle, and the real-time target distanc...

Embodiment 3

[0059] A robot variable grid map path planning optimization method, comprising:

[0060] (1) Using the original grid map, plan the global path from the initial position of the robot to the target point according to the initial position of the robot, the target point and obstacles;

[0061] (2) When the robot is traveling on the global path, obtain the real-time obstacle distance between the robot and the obstacle, and the real-time target distance between the robot and the target point, and then use the minimum value of the real-time obstacle distance and the real-time target distance to obtain the real-time grid grid size;

[0062] (3) Utilize the real-time grid size to update the original grid map to obtain a real-time grid map, and the robot moves forward in the real-time grid map until it reaches the target point.

[0063] Further, step (2) includes:

[0064] (2-1) Obtain the real-time obstacle distance between the robot and the obstacle, and the real-time target distanc...

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Abstract

The invention discloses a robot variable raster map path planning optimizing method and a robot variable raster map path planning optimizing system. The robot variable raster map path planning optimizing method comprises steps that an original raster map is used to plan a global path from an initial position of a robot to a target point; when the robot moves forward along the global path, a real-time obstacle distance between the robot and an obstacle is acquired, and a real-time target distance between the robot and the target point is acquired, and then a real-time raster size is acquired by using the minimal value of the real-time obstacle distance and the real-time target distance; the original raster map is updated by using the real-time raster size, and the real-time raster map is acquired, and then the robot moves forward according to the real-time raster map until the robot arrives at the target point. The robot moves forward in the real-time raster map, and the moving speed of the robot is accelerated, and the path distance is shortened, and therefore the robot can arrive at the target point accurately.

Description

technical field [0001] The invention belongs to the field of path planning, and more specifically relates to a method and system for optimizing path planning of a robot variable grid map. Background technique [0002] In recent years, mobile robots have been rapidly applied in all walks of life in society. From restaurant service robots to bank lobby welcome robots, from factory material handling autonomous navigation cars to substation intelligent inspection robots, these robots belong to the category of mobile robots. The problem of path planning for mobile robots. [0003] In the process of path planning for mobile robots, while meeting the accuracy of path planning, more and more attention is paid to high efficiency and low cost. The traditional method of searching the path based on the grid map has been able to effectively solve the requirements of the accuracy of the path planning of the mobile robot. The path is advanced by searching grids one by one, and the number...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0274
Inventor 彭刚
Owner HUAZHONG UNIV OF SCI & TECH
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