A Hybrid Graph Theory Control Planning Method for the Optimal Path of an Intelligent Carrying Robot
An optimal path and local optimal path technology, applied in vehicle position/route/height control, non-electric variable control, control/regulation system and other directions, can solve the problem of many path points, large search range, and difficulty for robots to achieve path search and other problems to achieve the effect of speeding up the search speed, saving the search time, and realizing the real-time optimal path search.
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[0055] The present invention will be further described below in conjunction with the drawings and embodiments.
[0056] Such as figure 1 As shown, an optimal path hybrid graph theory control planning method for an intelligent carrier robot includes the following steps:
[0057] Step 1: Construct a global map three-dimensional coordinate system for the carrying area of the carrier robot, and obtain the coordinates of the walkable area in the global map three-dimensional coordinate system;
[0058] The ground center point of the carrying area is the origin, the true 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 carrier robot is all floor connected areas in a building, and the walkable area refers to the area where obstacles in the building are removed from all the floor connected areas;
[0060] In the three-dimensional coordinate system of the global map, the two-dimensional pl...
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