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Route planning method for asymmetric anisotropic all-direction moving robot

An omnidirectional mobile and anisotropic technology, applied in the field of robotics, can solve the problems of upgrading, difficulty in completing the lateral movement of omnidirectional mobile robots, and difficulty in directly applying omnidirectional mobile robots, and achieve the effect of improving computing efficiency.

Inactive Publication Date: 2018-06-22
TSINGHUA INNOVATION CENT IN DONGGUAN
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Problems solved by technology

[0005] These existing path planning methods do not consider the difference in the robot’s ability to move in various directions, and often produce frequent changes in attitude and orientation. The robot needs to stop at these sharp turns and rotate in situ, and it is difficult to consider the changes in the robot’s attitude and orientation. time price
Although the existing method can be used for the robot to complete the task of avoiding obstacles, it is not conducive to the improvement of the robot's motion efficiency
[0006] On the other hand, driven by the technology of automatic driving of automobiles, the motion planning method of automobile-like wheeled mobile vehicles has been fully developed in recent years, but since this type of vehicle can only complete forward, backward, and circular motion with steering, It is difficult to complete the lateral movement of omnidirectional mobile robots, so its path planning method is difficult to be directly applied to omnidirectional mobile robots

Method used

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  • Route planning method for asymmetric anisotropic all-direction moving robot
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  • Route planning method for asymmetric anisotropic all-direction moving robot

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Embodiment Construction

[0026] The present invention is specifically described below through exemplary embodiments. It should be understood that the scope of the present invention should not be limited to the scope of the examples. Any changes or changes that do not depart from the gist of the present invention can be understood by those skilled in the art. The protection scope of the present invention is determined by the scope of the appended claims.

[0027] The method of the invention expands the construction method of the lattice grid graph of the differential wheeled vehicle and the four-wheeled vehicle, so that the basic unit inside the lattice grid graph, that is, the motion primitive, supports omnidirectional movement. The structure of the overall method is as follows figure 1 shown.

[0028] The method mainly includes the grid figure 1 , is used to describe the working environment of the robot, marking obstacles and free space, so as to distinguish free space and obstacles; motion primi...

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Abstract

The invention provides a route planning method for an asymmetric anisotropic all-direction moving robot. The method comprises a grid map and a moving element, wherein obstacles and free spaces are marked on the grid map; the moving element represents a section of small route; overlap situations of the moving element and the obstacle marked on the grid map are calculated by using a collision detection algorithm, and then a Lattice grid map is made; a planning route is obtained through a map search algorithm. By adopting the route planning method, expansion of a lattice grid map from wheeled vehicles to all-direction moving robots is achieved. The situation that a robot can only advance and rotate but not move laterally is broken, and the moving efficiency of wheeled vehicles can be met on premise that all-direction movement function is sufficiently brought into play.

Description

technical field [0001] The invention belongs to the technical field of robots, in particular to a path planning method for a mobile robot. Background technique [0002] Omnidirectional mobile robot is a kind of mobile robot that can move in any direction. It is different from ordinary differential wheeled vehicles. combination. Due to its flexibility in movement, omnidirectional mobile robots are gradually applied to industrial automation production lines, and undertake the function of material transfer. [0003] At present, most omnidirectional mobile robots used in industrial environments adopt fixed workflows and predetermined following paths, such as working in line inspection. Although this method of movement is stable and reliable, it cannot give full play to the obstacle avoidance potential of omnidirectional movement, and it is also difficult to adapt to the increasingly complex on-site environment. Therefore, the omnidirectional mobile robot needs to have automat...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 张继文刘莉刘召陈恳邬新国
Owner TSINGHUA INNOVATION CENT IN DONGGUAN
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