Robot path planning method based on neighborhood potential field
A technology for path planning and robotics, applied in the field of robot navigation, which can solve problems such as getting stuck in local minimum points
Inactive Publication Date: 2018-07-06
广州映博智能科技有限公司
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[0006] The purpose of the present invention is to overcome the deficiencies of the prior art, especially to solve the problem that in the existing robot path planning method based on the artificial potential field method, when one or more obstacles appear between the robot and the target, the repulsive force received by the robot may At a certain point, the resultant force of gravity is 0, so the robot stops running at this point, unable to carry out the next path planning, and falls into the problem of local minimum point
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[0020] The present invention will be described in more detail and complete below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, but not to limit the present invention.
[0021] see figure 2 , a robot path planning method based on a neighborhood potential field according to an embodiment of the present invention, the main steps of which include:
[0022] S1, establish the potential field model corresponding to the algorithm; the two-dimensional workspace of the robot is W=[x,y] T , the potential energy U(W) generated by obstacles and targets on the robot is:
[0023] U(W)=U a (W)+U o (W) (1)
[0024] Among them, U a (W) represents gravitational potential energy, U o (W) represents the repulsive potential energy.
[0025] The gravitational potential energy function of the target object to the robot is:
[0026]
[0027] where ...
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The present invention provides a robot path planning method based on a neighborhood potential field. The method mainly comprises the steps of: S1, establishing a potential field model corresponding toan algorithm; S2, calculating the force of the robot according to the potential field model and a neighborhood potential field at the position where the robot is located; S3, driving the motion of the robot according to a calculation result; S4, determining whether the robot arrives at a destination or not; and S5, recalculating the force of the robot according to the current position and the neighborhood potential field of the robot. When the joint force of the robot is 0, circles by taking the robot as centers of circles and taking steps as radiuses are a next path point range of the robot,uniform 20 points are obtained in each circle to calculate potential values of the 20 points, and the minimum point is obtained as a next path point of the robot after comparison so as to prompt therobot to bypass a barrier and arrive at a target position.
Description
technical field [0001] The invention relates to the field of robot navigation, in particular to a robot path planning method based on a neighborhood potential field. Background technique [0002] In the past few decades, robot technology has developed rapidly. It not only improves production efficiency, but also can replace humans to complete dangerous and repetitive tasks and tasks, and has achieved more and more brilliant achievements in the field of industrial production. the results. However, with the rapid development of electronic information, artificial intelligence and other related technologies, robot technology has gradually penetrated into other fields, which has prompted people to increase their requirements for robots. [0003] Path planning technology is one of the key technologies in service robots. The purpose of path planning for service robots is to guide the robot to avoid possible obstacles in the driving path through corresponding algorithms and followi...
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Login to View More IPC IPC(8): G05D1/02
CPCG05D1/0217
Inventor 钟鸿飞覃争鸣杨旭
Owner 广州映博智能科技有限公司