A* algorithm-based incremental path planning method and A* algorithm-based incremental path planning system for companion robot

Abstract

The invention discloses an A* algorithm-based incremental path planning method and an A* algorithm-based incremental path planning system for a companion robot. The method comprises the following steps: a step of construction of an environment map: constructing a two-dimensional occupied grid map according to an actual scene, and marking each grid as an obstacle area or a feasible area; and a stepof initialization of the companion robot and a movable target point: setting initial coordinate positions of the companion robot and the movable target point in the grid map; establishing a sliding window for the robot; and planning the path of the companion robot based on the A* algorithm and the incremental path planning method. By adopting a path of the last time for incremental path update, the method and system can save the path planning time, improve the response speed of the companion robot, and avoid new obstacles in time.

Description

technical field [0001] The invention relates to the field of accompanying robots, in particular to an incremental path planning method and system for accompanying robots based on the A* algorithm. Background technique [0002] Accompanying walking is a typical human-machine cooperation method for mobile robots. It can not only relieve the tedious operation burden brought by remote control robots, but also give full play to the flexibility and adaptability of mobile robots in complex environments. Therefore, the accompanying walking of mobile robots is studied. The function has strong practical significance. [0003] At present, many patent documents have carried out research on accompanying walking robots. However, the focus is often on how the robot recognizes the target, but there is little research on the key link in the following walking process - path planning. The path planning method commonly used in the field of robotics today is a grid-based path planning algorithm...

AI Technical Summary

Problems solved by technology

[0006] For the accompanying robot, since the accompanying robot needs to follow the owner to walk; the environmental information detected by it will be updated in real time as the position of the accompanying robot changes, which leads to the fact that the starting point and target point of the path planning are no longer fixed geographical coordinates, so The above-mentioned algorithms are not suitable for the application environment of accompanying robots. According to the inventor’s understanding, the existing path planning algorithms for accompanying robots are relatively wasteful of time and energy consumption of accompanying robots, and the long running time of the algorithms leads to slow response of the robot. After the path planning encounters new moving obstacles, the route cannot be adjusted in time; for this reason, it is necessary to design a fast and effective path planning algorithm to improve the adaptability of the companion robot in complex environments

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