Path planning method and system for mobile robot

Abstract

The invention provides a path planning method and system for a mobile robot. The method includes: establishing a map according to the traveling environment data of the mobile robot; dividing the map into a plurality of uniform grids to obtain an initial grid map, and determining the initial position and the final position of the mobile robot on the initial grid map; receiving an obstacle signal detected by a sensor on the mobile robot; determining the repulsive force of the mobile robot at the current position according to the obstacle signal; according to the repulsive force of the mobile robot at the current position, constructing an attenuated repulsion field of an obstacle area; assigning values to respective grids in the initial grid map according to the attenuated repulsion field to obtain an assigned grid map; and generating a traveling path of the mobile robot toward the final position by using a non-traversal search approach. The method and system do not involve the vector calculation of potential field force at all when planning an optimal path and eliminates the possibility of deadlock of a local optimum point that may occur in an artificial potential field method.

Description

technical field [0001] The present invention relates to the technical field of mobile robots, in particular to a method and system for path planning of mobile robots. Background technique [0002] A mobile robot is a system that can perceive the environment and its own state through sensors, and realize goal-oriented autonomous movement in an environment with obstacles. Since the mobile robot may pass through various obstacles when going to the target location, it is necessary to plan the travel path of the mobile robot. [0003] At present, many methods of path planning for mobile robots include: artificial potential field method and grid map method. However, the artificial potential field method is easy to fall into the local minimum point, which makes the mobile robot unable to reach the target position. The basic component of the traditional grid map method is the minimum grid scale, which divides the map into grids. The grid map method can easily use a recursive algo...

AI Technical Summary

Problems solved by technology

The grid map method can easily use a recursive algorithm to obtain a collision-free path between any two passing grids, but it requires a lot of resources and practice, and the degree of path optimization is not ideal

[0004] Therefore, the current method of path planning for mobile robots is inefficient and cannot fundamentally avoid the "deadlock" problem of the local minimum point of the artificial potential field method

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