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Smooth path planning method for mobile robots based on dynamic complex environment

A mobile robot and complex environment technology, applied in the direction of instruments, non-electric variable control, two-dimensional position/channel control, etc., can solve the problems of uneven paths and low search efficiency, and achieve the effect of solving deadlock problems

Pending Publication Date: 2018-11-27
LUDONG UNIVERSITY
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  • Application Information

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Problems solved by technology

[0007] In order to solve the problems of low search efficiency of existing path planning algorithms and unsmooth planned paths, the present invention provides the following technical solutions: a smooth path planning method for mobile robots based on dynamic and complex environments, including

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  • Smooth path planning method for mobile robots based on dynamic complex environment
  • Smooth path planning method for mobile robots based on dynamic complex environment
  • Smooth path planning method for mobile robots based on dynamic complex environment

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Embodiment 2

[0102] Different from Embodiment 1, step S2 in this embodiment uses the bidirectional A* algorithm after the improved heuristic function to search for the optimal path to find the optimal path. Please refer to image 3 as shown, image 3 In order to use the two-way A* algorithm after the improved heuristic function for smooth path planning flow chart, the specific steps are as follows:

[0103] S201' initializes the start point and the end point, and lists the start point and the end point in two openlists respectively;

[0104] S202' set out from the starting point and the end point to search for the nearest node respectively;

[0105] S203'judging whether the node searched by one party exists in the best path of the other party, if yes, continue to execute step S204; otherwise return to S202;

[0106] S204' backtracking from the last node to the starting point and the end point respectively, to obtain the optimal path;

[0107] In the step S202', the search for the neares...

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Abstract

The invention relates to a smooth path planning method for mobile robots based on a dynamic complex environment, and belongs to the field of robot path planning. The method comprises the steps of starting; searching for an optimal path; conducting smooth treatment on the optimal path; ending. The step of searching for the optimal path uses a two-way RRT algorithm with the idea of gravity of an artificial potential field to perform path searching, that is, the artificial potential field gravity guides a random tree to grow toward a target direction, and the RRT algorithm is prevented from randomly sampling the global; a two-way A* algorithm after a heuristic function is improved is adopted to add angle factors based on distance factors, the units of distances and angles are normalized, thepath planning time is greatly reduced, and the convergence speed of paths is improved; smoothing treatment is conducted on the optimal path, a Freudian smoothing algorithm is adopted to remove redundant nodes, a B-spline method is used three times for smoothly connecting remaining nodes, and the smooth optimal path is finally obtained.

Description

technical field [0001] The invention belongs to the field of robot path planning, and in particular relates to a smooth path planning method for a mobile robot based on complex environments. Background technique [0002] With the increasing complexity of the robot's working environment and the increase in the number of tasks, the path planning of mobile robots has become the focus of research by many scholars at home and abroad. Traditional path planning algorithms include artificial potential field method, fuzzy rule method, genetic algorithm, neural network, simulated annealing algorithm, ant colony optimization algorithm, etc., but these methods need to model obstacles in a certain space, calculate The complexity has an exponential relationship with the robot's degree of freedom, which is not suitable for solving the path planning of multi-degree-of-freedom robots in complex environments. [0003] The artificial potential field method is to design the movement of the rob...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20G05D1/02
CPCG01C21/20G05D1/0212
Inventor 刘飞杨洪勇赵玫张淑宁唐莉刘慧霞韩辅君李庆宇杨怡泽李玉玲刘远山
Owner LUDONG UNIVERSITY
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