Particle swarm algorithm-based robot path planning method, device and terminal device

A particle swarm algorithm and path planning technology, applied in the direction of navigation calculation tools, etc., can solve the problems of uneven planning path and low efficiency, and achieve the effect of reducing the amount of calculation, improving the calculation efficiency, and improving the optimal solution.

Active Publication Date: 2018-10-12
SHENZHEN UNIV
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  • Abstract
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  • Application Information

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Problems solved by technology

[0004] In view of this, the embodiment of the present invention provides a robot path planning method and terminal equipment based on the particle swarm optimization algorithm to solve the problem of unsmooth and low efficiency of the path planned by the robot path planning algorithm in the prior art

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  • Particle swarm algorithm-based robot path planning method, device and terminal device
  • Particle swarm algorithm-based robot path planning method, device and terminal device
  • Particle swarm algorithm-based robot path planning method, device and terminal device

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Embodiment 1

[0026] figure 1 It shows the implementation process of the particle swarm algorithm-based robot path planning method provided by Embodiment 1 of the present invention, and is described in detail as follows:

[0027] In step S1, modeling is carried out according to the information of the robot's activity site, and a simulation environment is generated.

[0028] In an embodiment of the present invention, said modeling and generating a simulated environment based on the information of the robot activity site, that is, the environment modeling process includes:

[0029] Step S101, establishing a Cartesian coordinate system according to the information of the activity site, and determining the start and end points of the robot's activities in the Cartesian coordinate system.

[0030] Optionally, first obtain the information of the robot activity field, wherein the information of the robot activity field includes the positions and shapes of all obstacles in the activity field, the ...

Embodiment 2

[0076] figure 2 A structural block diagram of a particle swarm algorithm-based robot path planning device provided by an embodiment of the present invention is shown. For ease of description, only parts related to the embodiment of the present invention are shown. The robot path planning device 2 based on particle swarm optimization algorithm includes: a modeling module 21 , a first optimization module 22 and a second optimization module 23 .

[0077] Wherein, the modeling module 21 is used for modeling according to the information of the robot activity site, and generates a simulation environment;

[0078] The first optimization module randomly generates N initial paths that do not intersect with the obstacle according to the starting point and end point of the robot activity, and optimizes the N initial paths in the simulation environment by using a method based on particle swarm optimization algorithm , select M global optimal paths from the paths generated by optimizatio...

Embodiment 3

[0103] image 3 It is a schematic diagram of a particle swarm algorithm-based robot path planning terminal device provided by an embodiment of the present invention. Such as image 3 As shown, the robot path planning terminal device 3 based on the particle swarm optimization algorithm of this embodiment includes: a processor 30, a memory 31, and a computer program 32 stored in the memory 31 and operable on the processor 30, for example Robot path planning program based on particle swarm algorithm. When the processor 30 executes the computer program 32, it realizes the steps in the above embodiments of the robot path planning method based on the particle swarm optimization algorithm, for example figure 1 Steps 101 to 103 are shown. Alternatively, when the processor 30 executes the computer program 32, it realizes the functions of the modules / units in the above-mentioned device embodiments, for example figure 2 Functions of modules 21 to 23 shown.

[0104] Exemplarily, the...

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Abstract

The invention provides a particle swarm algorithm-based robot path planning method, device and terminal device and belongs to the technical field of artificial intelligence. The method comprises building a model according to information of a robot active site, generating a simulation environment, randomly generating N initial paths that do not intersect with the obstacle according to the startingpoint and the end point of the robot motion, optimizing the N initial paths in the simulation environment through a particle swarm algorithm, selecting M global optimal paths from the optimized paths,and selecting a final path from the M global optimal paths through a Dijkstra algorithm-based method. Through the advantages of the particle swarm algorithm and the Dijkstra algorithm, a robot path is planned so that the smoothness of the optimal path is increased and the calculation efficiency is improved.

Description

technical field [0001] The invention belongs to the technical field of artificial intelligence, and in particular relates to a particle swarm algorithm-based robot path planning method, device and terminal equipment. Background technique [0002] With the needs of social development and the expansion of robot application fields, people's requirements for mobile robots are getting higher and higher. The key technologies of mobile robots mainly involve: navigation, positioning, obstacle avoidance and path planning. The key to path planning is the research and design of algorithms. [0003] In the prior art, path planning algorithms can be divided into traditional path planning algorithms and intelligent bionics path planning algorithms. Traditional path planning algorithms such as: Dijkstra algorithm, Dijkstra algorithm is a single-source path planning algorithm, because of the use of exhaustion, there are problems such as long computing time and low efficiency; intelligent ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 黄建军刘紫丹黄敬雄
Owner SHENZHEN UNIV
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