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A robot path planning method and its vacuum cleaner

A path planning and robot technology, applied in the field of intelligent robots, can solve the problems of low efficiency of path planning and complex algorithms, etc., and achieve the effect of targeted cleaning

Active Publication Date: 2021-08-17
VESTORCH TECH LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

It combines the potential field method, the grid method and the particle swarm method, but its algorithm is complex and the path planning efficiency is low, which urgently needs to be improved

Method used

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  • A robot path planning method and its vacuum cleaner
  • A robot path planning method and its vacuum cleaner
  • A robot path planning method and its vacuum cleaner

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Embodiment Construction

[0037] The technical solution of the present invention will be clearly and completely described below.

[0038] It should be noted that "inside" in the present invention refers to close to the starting point of the robot, "outside" refers to being far away from the starting point of the robot, and the orientation terms such as "outer circumference" in the present invention are all for fully explaining the path planning of the present invention method, and should not be construed as a limitation of the present invention.

[0039] like figure 1 As shown, a robot path planning method includes the following steps:

[0040] S1: Extract the effective area where robot 1 can walk in the 2D map, and divide the effective area into a grid;

[0041] S2: Connect the midpoints of the grid to generate a tree path, and the robot performs non-target walking or targeted walking according to the tree path.

[0042] Further, the method for extracting the effective area where the robot can walk...

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Abstract

The present invention provides a robot path planning method and a vacuum cleaner with it, including the steps of extracting an effective area where a robot can walk in a 2D map, and grid-dividing the effective area; connecting grid midpoints to generate a tree path, According to the tree path, the robot performs the steps of non-target walking or goal-oriented walking. The robot path planning method of the present invention can enable the robot to quickly and comprehensively traverse the entire effective area when there is no target, and can also quickly and accurately calculate the shortest path from the robot to the target when there is a walking target. When the path planning method is applied to the sweeping robot, it can quickly allow the sweeping robot to clean the entire effective area, and realize the targeted cleaning of the sweeping robot.

Description

technical field [0001] The invention relates to the field of intelligent robots, in particular to a robot path planning method and a vacuum cleaner with the method. Background technique [0002] Path planning is one of the key technologies to realize the control of walking robots. Its purpose is to find an optimal or suboptimal safe collision-free path from the starting position to the target position under certain environmental conditions and performance index requirements. For robot path planning, domestic and foreign scholars have proposed many planning methods, including artificial potential field method, neural network adaptive planning method, genetic algorithm, ant colony algorithm, particle swarm algorithm, etc. In recent years, more and more scholars pay more attention to the combination of multiple intelligent algorithms to improve the performance of the algorithm when studying the path planning problem. For example, ImenChaari* combined the genetic algorithm wit...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/20G05D1/02
CPCG01C21/206G05D1/0219
Inventor 潘景良陈灼陈嘉宏佘思稹
Owner VESTORCH TECH LTD
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