Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Intelligent carrying robot optimal path hybrid graph theory control planning method

A technology of optimal path and local optimal path, applied in the direction of vehicle position/route/height control, non-electric variable control, control/regulation system, etc., can solve the problem of large search range, difficulty in path search by robots, and many path points and other problems to achieve the effect of speeding up the search, realizing real-time optimal path search, and saving search time

Active Publication Date: 2017-12-08
CENT SOUTH UNIV
View PDF5 Cites 28 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The present invention provides a hybrid graph theory control planning method for an optimal path of an intelligent carrier robot. search situation

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Intelligent carrying robot optimal path hybrid graph theory control planning method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0055] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0056] Such as figure 1 As shown, a hybrid graph theory control planning method for an optimal path of an intelligent carrier robot includes the following steps:

[0057] Step 1: Construct a three-dimensional coordinate system of the global map for the carrying area of ​​the carrier robot, and obtain the coordinates of the walkable area under the three-dimensional coordinate system of the global map;

[0058] The ground center point of the carrying area is the origin, the due east direction is the X axis, the true north direction is the Y axis, and the vertical ground direction is the Z axis;

[0059] The carrying area of ​​the carrying robot is all the floor connecting areas in a building, and the walkable area refers to the area where obstacles in the building are deleted from all the floor connecting areas;

[0060] In the three-dimensional coordin...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses an intelligent carrying robot optimal path hybrid graph theory control planning method. According to the method, the idea of hierarchical planning for the global path is put forward, local optimal path planning of each room or passageway acts as the minimum planning unit to search the optimal hub node of each floor, the local optimal paths of all the rooms or the passageways are connected to obtain the optimal path of a single floor, and finally the optimal paths between the floors are connected so as to obtain the complete global optimal path. The computational burden in the path planning process can be greatly reduced by the design of hierarchical planning, and path planning can be rapidly realized.

Description

technical field [0001] The invention belongs to the field of robot path planning, in particular to an optimal path hybrid graph theory control planning method for an intelligent carrying robot. Background technique [0002] With the rapid development of modern technology, robots have become one of the current research hotspots, and robot automated transportation has become an important development direction in the future. The logistics industry and scientific research industry have begun to use delivery robots to ensure transportation quality and improve transportation efficiency. Path planning, as one of the main technical problems of carrying robots, has also received extensive attention. The path planning of the carrying robot requires the robot to be able to perceive the surrounding environment independently, and quickly find a collision-free path from the starting point to the end point in a complex environment for the target task, and the path needs to meet various re...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
IPC IPC(8): G05D1/02
CPCG05D1/0214G05D1/0217G05D2201/0216
Inventor 李燕飞刘辉杨宇翔
Owner CENT SOUTH UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com