Quadruped robot path planning method and system based on improved A* algorithm

A quadruped robot, path planning technology, applied in the field of robotics, to achieve the effect of avoiding blockage

Inactive Publication Date: 2018-10-12
QILU UNIV OF TECH
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Problems solved by technology

[0004] In order to solve the deficiencies of the prior art, the first object of the present invention is to provide a quadruped robot path planning method based on the improved A* algorithm, which can avoid the blockage of narrow passages while driving the quadruped robot away from obstacles , to search out the optimal path safely and reliably

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  • Quadruped robot path planning method and system based on improved A* algorithm

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[0040] It should be pointed out that the following detailed description is exemplary and intended to provide further explanation to the present application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

[0041] It should be noted that the terminology used here is only for describing specific implementations, and is not intended to limit the exemplary implementations according to the present application. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural, and it should also be understood that when the terms "comprising" and / or "comprising" are used in this specification, they mean There are features, steps, operations, means, components and / or combinations thereof.

[0042] The grid-based path planning method often equates the robot with the particle, and then expands the obsta...

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Abstract

The invention discloses a quadruped robot path planning method and system based on an improved A* algorithm. The method comprises the steps of constructing an environment raster map,and representing aquadruped robot and a target position through raster coordinates; on the basis of the smallest distance between the edge of a robot body and the center of the quadruped robot,performing initial expansion on the raster where a barrier is located,and enabling the barrier and the raster obtained after initial expansion to jointly form the minimum impassable region; according to the the safe distanceneeded by actual operation of the quadruped robot,determining the outward expansion raster layer number on the basis of the minimum impassable region,and adopting the raster obtained after outward expansion inside the region as a barrier virtual expansion raster; utilizing the improved A* algorithm for determining a passing price value from the initial raster and the target raster,and determiningthe corresponding path obtained when the passing price value from the initial raster point to the target raster point is minimum is determined as the optimal path. The problem that a narrow channel is blocked can be avoided while the quadruped robot is driven to move away from the barrier.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a path planning method and system for a quadruped robot based on an improved A* algorithm. Background technique [0002] Quadruped robots such as BigDog, LS3, HyQ and Scalf have better terrain adaptability, maneuverability and flexibility than wheeled or tracked robots. When this type of robot operates autonomously in an outdoor unstructured environment, how to quickly and effectively perform path planning has become a problem that must be solved. [0003] At present, the grid-based path planning algorithm is widely used in the field of robotics. This planning method represents the environment with a regularized grid, and transforms the path planning into a search problem for the Unicom grid. The A* algorithm is the most widely used of this type of algorithm, it can search for the optimal path connecting the starting point and the target point. However, the grid-base...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0214G05D1/0221
Inventor 张慧李彬荣学文李贻斌刘斌
Owner QILU UNIV OF TECH
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