Dynamic smooth path planning method based on D*_lite algorithm

A path planning and dynamic smoothing technology, which is applied to road network navigators and other directions, can solve problems such as inability to respond quickly in real time and affect the operating efficiency of planning algorithms, and achieve strong real-time and adaptable effects

Inactive Publication Date: 2018-01-26
NANJING UNIV OF POSTS & TELECOMM
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Problems solved by technology

The path planning algorithm is divided into static path planning (Static Path Planning) algorithm and dynamic path planning (Dynamic Path Planning) algorithm. The planning algorithm can use the sensor to update the obstacle information in real time to provide the mobile robot with the best navigation route in a timely manner
Such a smoothing method will greatly affect the overall operating efficiency of the planning algorithm due to traversing all nodes

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  • Dynamic smooth path planning method based on D*_lite algorithm
  • Dynamic smooth path planning method based on D*_lite algorithm
  • Dynamic smooth path planning method based on D*_lite algorithm

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Embodiment Construction

[0038] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0039] attached Figure 4 It is the overall flowchart of the method of the present invention, a dynamic smooth path planning method based on the D*_lite algorithm, including three main parts: grid map construction, application of the D*_lite algorithm to obtain the preliminary planning path, and Bezier curve smoothing and reprocessing. The implementation steps are as follows:

[0040] Step 1: Construct global and local grid maps with the help of multiple sensors such as lidar. The specific process is as follows:

[0041] A: Use various sensors such as lidar to obtain environmental information, including static obstacle information in the environment and the position information of the robot itself, to establish a static global grid map.

[0042] B...

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Abstract

The invention discloses a dynamic smooth path planning method based on a D*_lite algorithm. The method is mainly applied in the field of dynamic path planning of autonomous mobile robots. The method comprises the following steps: building a static global obstacle grid map and real-time dynamic local obstacle grid maps by using various sensors; establishing a node-to-be-explored queue U and a searched node multi-way tree UT; constructing preliminarily planned paths; using Bezier curve analysis to carry out smooth reprocessing to obtain a finally planned path; and autonomously moving a robot toa new starting point, and updating the starting point and the corresponding local obstacle map in real time until the robot reaches a target point. The smooth path planning is carried out through combining the D*_lite algorithm with the Bezier curve smoothing reprocessing, and plan re-planning is carried out in real time, so route overlapping and unnecessary turnover are avoided. The method has the advantages of realization of the dynamic planning of the path, avoiding of dynamic objects appearing in the moving process, and enhancement of the safety and the adaptability of the mobile robot ina dynamic environment.

Description

technical field [0001] The invention belongs to the field of dynamic path planning of autonomous mobile robots, in particular to a dynamic smooth path planning method based on D*_lite algorithm. Background technique [0002] Path planning technology is an important part of the research field of autonomous mobile robots. The so-called optimal path planning problem for mobile robots is to find an optimal path from the initial state to the target state and avoid obstacles in the actual working environment according to one or some optimization criteria. The path planning algorithm is divided into static path planning (Static Path Planning) algorithm and dynamic path planning (Dynamic Path Planning) algorithm. The planning algorithm can use the sensor to update the obstacle information in real time to provide the mobile robot with the best navigation route in a timely manner. [0003] At the same time, whether it is static path planning or dynamic path planning, traditional pat...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/34
Inventor 李晓飞丁浩吴聪
Owner NANJING UNIV OF POSTS & TELECOMM
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