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Robot route planning method, storage medium and equipment

A path planning and robotics technology, applied in directions such as navigation calculation tools, can solve problems such as excessive corners, effectiveness and safety, and achieve the effect of avoiding excessively large corners

Active Publication Date: 2018-02-16
ANHUI UNIVERSITY OF TECHNOLOGY AND SCIENCE
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] Aiming at the defects in the prior art, the present invention provides a robot path planning method, storage medium and equipment, adopts the honeycomb grid method to divide the environment map, and avoids the excessive corner angle, effectiveness and safety in the traditional grid method problems; combine the honeycomb grid method with the tree growth simulation algorithm with plants as the research object, take advantage of the advantages of each part, and explore the robot path planning problem from a new aspect

Method used

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  • Robot route planning method, storage medium and equipment
  • Robot route planning method, storage medium and equipment

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Embodiment 1

[0060] Such as figure 1 As shown, Embodiment 1 of the present invention provides a robot path planning method based on a tree growth simulation algorithm, including:

[0061] In step S1, the honeycomb grid method is used to construct the environment map for the robot to walk, and an environment map model is established.

[0062] A map of the environment in which the robot walks, such as figure 2 As shown, in the environment map composed of honeycomb grids, the environment is equally divided into hexagonal grids with the same shape. The construction of the environment map model in this embodiment is based on the two In the three-dimensional space plane, and there are only static obstacles in the space, the static obstacles are expanded into a circle to represent, and the center and radius of the circle are determined to determine the corresponding position of the static obstacles in the space.

[0063] In this embodiment, it is assumed that the starting position of the mobi...

Embodiment 2

[0117] Corresponding to Embodiment 1 of the present invention, Embodiment 2 of the present invention provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the following steps are implemented:

[0118] Step S1, using the honeycomb grid method to construct the environment map for the robot to walk, and establish the environment map model;

[0119] Step S2, searching for an optimal path for the walking path of the robot, and planning an optimal path;

[0120] Step S3, smoothing the polyline path of the robot.

[0121] The above-mentioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disk, and other media capable of storing program codes.

[0122] For the above specific limitations on the computer-readable storage medium, reference may be made to Embodiment 1, and details are not rep...

Embodiment 3

[0124] Corresponding to Embodiment 1 of the present invention, Embodiment 3 of the present invention provides a computer device, including a memory, a processor, and a computer program stored in the memory and operable on the processor. When the processor executes the program, the computer program is implemented. The following steps:

[0125] Step S1, using the honeycomb grid method to construct the environment map for the robot to walk, and establish the environment map model;

[0126] Step S2, searching for an optimal path for the walking path of the robot, and planning an optimal path;

[0127] Step S3, smoothing the polyline path of the robot.

[0128] For the above specific limitations on the computer device, reference may be made to Embodiment 1, which will not be repeated here.

[0129] Compared with the prior art, the embodiments of the present invention have the following advantages:

[0130] (1) Learn from the advantages of the traditional grid method to divide th...

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Abstract

The invention discloses a robot route planning method, a storage medium and equipment. The method comprises steps as follows: a robot working environment map is constructed with a honeycomb grid method, and an environment map model is established; optimal route searching of robot walking routes is performed, and the optimal route is planned; smoothing is performed on fold line routes of a robot. The environment map is divided with the honeycomb grid method, and the problems about too big corners, effectiveness and safety in conventional grid methods are solved; the honeycomb method and a treegrowth simulation algorithm with plants as research objects are combined, advantages of all parts are well played, and the robot route planning problem is researched in a new way.

Description

technical field [0001] The invention relates to the field of robot path planning, in particular to a robot path planning method, storage medium and equipment. Background technique [0002] With the rapid development of the robot industry and the increasing level of intelligence, robots have been widely used in various fields, and the path planning problem is an important part of robot control and navigation. A good path planning strategy can ensure the safety of robots To efficiently complete specified tasks, the problem of path planning for robots has been extensively explored and studied in recent years. [0003] Traditional robot path planning mostly uses the grid method to construct environmental maps. The algorithm model is mainly based on the traditional research method of simulating physical and chemical laws or the lifestyles of animals, insects, bacteria and other organisms. It describes the phenomena in nature by establishing models. , this kind of model can often...

Claims

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Application Information

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IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 陈孟元姚成信
Owner ANHUI UNIVERSITY OF TECHNOLOGY AND SCIENCE
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