Mobile robot path planning method based on improved RRT* algorithm

A mobile robot and path planning technology, applied in the direction of instruments, road network navigators, non-electric variable control, etc., can solve the problems of slowing down the convergence rate, increasing the search time, etc., to reduce randomness, reduce randomness, and improve convergence speed effect

Inactive Publication Date: 2018-12-11
WUHAN UNIV OF TECH
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Problems solved by technology

However, the disadvantage of the RRT* algorithm is that its asymptotic optimality is at the expense of slowing down the convergence rate and increasing the search time.

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  • Mobile robot path planning method based on improved RRT* algorithm
  • Mobile robot path planning method based on improved RRT* algorithm
  • Mobile robot path planning method based on improved RRT* algorithm

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Embodiment Construction

[0053] In order to make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be described in more detail below in conjunction with the drawings in the embodiments of the present invention. In an embodiment of the present invention, the path planning method includes the following steps:

[0054] (1) Collect the working environment information of the robot through the laser radar sensor, ultrasonic sensor, and infrared sensor that come with the mobile robot, carry out grid map modeling, mark each grid as an obstacle area or an obstacle-free area, and determine the starting point and Target; Figure 4 to Figure 12 In , the black part is the obstacle area, and the white part is the non-obstacle area; the S point is the starting point, and the G point is the target point.

[0055] (2) Use the target paranoid strategy to generate random sampling points in the barrier-free area, ...

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Abstract

The invention discloses a mobile robot path planning method based on an improved RRT* algorithm. The method introduces a target biasing strategy into a standard RRT* algorithm so as to reduce the randomness of sampling points; provides an avoidance step length extension method in order that a random tree can reasonably stay away from an obstacle area and avoids falling into a local minimum; and smoothes a path obtained by the improved RRT* algorithm by using a reverse sequence connection method smoothing strategy, so as to reduce the direction-changing operations of the robot and achieve the stable movement of the robot. Compared with an original standard RRT* algorithm, the improved RRT* algorithm has a better planned path and takes less time.

Description

technical field [0001] The invention belongs to the technical field of path planning for mobile robots, and relates to a path planning method for a robot, in particular to a path planning method for a mobile robot based on an improved RRT* algorithm. Background technique [0002] With the development of society, mobile robots are more and more widely used in human life. Path planning (the robot autonomously finds a feasible path from the initial position to the target position) is the basis for the robot to complete various tasks. At present, the global path planning algorithms mainly include Dijkstra (Dijkstra) algorithm, A* algorithm, ant colony algorithm and so on. However, the key to the success of most algorithms in path planning lies in the setting of specific parameters of the algorithm, and it is not suitable for application in high-dimensional complex spaces. In the actual application process, the search rate of Dijkstra's algorithm is relatively slow and the comp...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02G01C21/34
CPCG01C21/3446G05D1/0212G05D1/0231G05D1/0238G05D1/0242G05D1/0255G05D1/0257
Inventor 朱宏辉丁玉豪明瑞冬
Owner WUHAN UNIV OF TECH
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