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Mobile robot path planning method based on improved A-star algorithm

A mobile robot and path planning technology, which is applied to instruments, road network navigators, measuring devices, etc., can solve the problems of large cumulative turning angles, many path points and broken lines, etc., and achieve the effect of reducing the path length and turning angle

Inactive Publication Date: 2018-07-06
KUNMING UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, due to the calculation characteristics of the A star algorithm, the planned path points generally have problems such as many broken lines and large cumulative turning angles.

Method used

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  • Mobile robot path planning method based on improved A-star algorithm
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  • Mobile robot path planning method based on improved A-star algorithm

Examples

Experimental program
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Embodiment 1

[0028] Embodiment 1: as Figure 1-5 As shown, a mobile robot path planning method based on the improved A-star algorithm, first performs global path pre-planning in a static obstacle environment; then performs secondary smoothing on the path points of the global path pre-planning to obtain the pre-planned path; Finally, the artificial potential field method and the global path pre-planning method in the static obstacle environment are used to perform local path planning when dynamic obstacles are encountered.

[0029] Further, the global path pre-planning in a static obstacle environment can be set as:

[0030] Step S1.1, first initialize: create an open list and a close list, the initial values ​​of the pen list and the close list are both empty, the open list is used to save the generated but unused nodes, and the close list is used to save obstacles and used nodes the node; add the obstacle to the close list; set the starting point as the current node;

[0031] Step S1.2....

Embodiment 2

[0042] Embodiment 2: as Figure 1-5 Shown, a kind of mobile robot path planning method based on improved A star algorithm, the specific steps of described method are as follows:

[0043] Step 1: Global path pre-planning in a static obstacle environment:

[0044] Step 1.1, first initialize: as image 3 As shown, build a 6×6 grid environment, black is the obstacle, white is the passable path, the starting point is point A in the grid, the target point is point H in the grid, create open list and close list, open list and close The initial value of the list is empty, the open list is used to save the generated but unused nodes, the close list is used to save obstacles and used nodes; add obstacles to the close list; set the starting point as the current node;

[0045] Step 1.2. Check whether the current node is the target point: if it is, the path will be deduced according to the parent node, and the path point will be output; if it is not the target point, the traditional A-st...

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Abstract

The invention relates to a mobile robot path planning method based on improved A-star algorithm, and belongs to the field of mobile robot path planning. The method is as follows: firstly performing global path pre-planning in a static obstacle environment; then performing secondary smoothing on path points of the global path pre-planning to obtain a pre-planned path; and finally adopting an artificial potential field method and a method for global path pre-planning in the static obstacle environment to perform local path planning when encountering a dynamic obstacle. The method is no longer limited to points in a grid. In a path-finding process, a current node and an extended node are connected, and the obstacle is detected by judging whether a route point connection line and an obstacle edge have intersections.

Description

technical field [0001] The invention relates to a mobile robot path planning method based on the improved A-star algorithm, belonging to the field of mobile robot path planning. Background technique [0002] Path planning is an important research direction in the field of mobile robot control. It refers to searching for an optimal or approximately optimal collision-free path from the starting point to the target point in an obstacle environment according to certain indicators. According to environmental information, path planning can be roughly divided into global path planning with known environmental information and local path planning based on sensor perception. Among them, the global path planning can deal with the path planning when the obstacle information is known. When there are dynamic obstacles, the planning effect is not ideal; the local path planning can avoid the dynamic obstacles in the environment through the information fed back by the sensor. [0003] A sta...

Claims

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Application Information

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IPC IPC(8): G01C21/34
CPCG01C21/3446
Inventor 任玉洁付丽霞张勇毛剑琳
Owner KUNMING UNIV OF SCI & TECH
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