Accompanying robot path planning method and system based on obstacle virtual expansion

A path planning and robot technology, applied in the field of robots, can solve the problems of increasing the energy loss of robots and reducing the efficiency of path search, and achieve the effect of avoiding blockage

Inactive Publication Date: 2018-11-09
QILU UNIV OF TECH
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

Therefore, if the robot re-plans the path from the starting point every time when the path is updated, the old and new paths will have more repetitions, which will lead to a decrease in path search efficiency and increase the energy consumption of the robot itself.

Method used

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[0055] 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.

[0056] 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.

[0057] Such as figure 1 As shown, as the first embodiment of the present invention, a companion robot path plan...

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Abstract

The invention discloses an accompanying robot path planning method and system based on obstacle virtual expansion. The method includes a step of constructing an environment map, namely a step of constructing a two-dimensional occupancy grid map according to an actual scene, with each grid being labeled as an obstacle zone or a walkable zone; a step of setting initial coordinate positions of an accompanying robot and a movable target in the grid map; a step of constructing a sliding window for the robot; a step of subjecting the obstacle zones to expansion processing, namely a step of performing initial expansion on grids where an obstacle is according to a shortest distance between the center of the robot and a body edge, determining the number of grid layers expanded on the basis of the minimum impassable zone, adopting the grids in the expanded zones as obstacle virtual expansion grids, and labeling the grade of danger of obstacle influences on the obstacle virtual expansion grids; and a step of planning a path for the accompanying robot based on an A* algorithm and an incremental path planning process. Incremental path updating is performed by adopting a path of the last moment,thus saving path planning time and increasing the response speed of the accompanying robot.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a path planning method and system for an accompanying robot based on virtual expansion of obstacles. Background technique [0002] 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 distance connecting the starting point and the target point. [0003] However, the grid-based environment description method often equates the robot with a particle, and expands the obstacles according to a specific size to meet the obstacle avoidance needs of the robot. This processing method is more suitable for circular or square robots, because the radius of the robot or the maximum distance between the center of t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20G05D1/02G05D1/12
CPCG01C21/20G05D1/0212G05D1/12
Inventor 张慧荣学文李贻斌李彬刘斌
Owner QILU UNIV OF TECH
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