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Mobile device limited space path generation method based on intelligent agent

A mobile device and path generation technology, applied in the direction of measuring devices, road network navigators, instruments, etc., can solve the problems affecting the moving efficiency of mobile devices, etc., and achieve the effect of efficient moving direction

Active Publication Date: 2019-01-25
BEIHANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, when the movable device moves in a limited space, the size of the obstacle and the size of the movable device will affect the moving efficiency of the movable device, so it cannot be regarded as a particle to carry out research
Due to the typical NP-hard characteristics of path planning, an effective search method can obtain the optimal moving path. At present, the most used path search method is the A* search method, but it is carried out in the work area with irregular shape or obstacles. Exhibits certain limitations when path searching

Method used

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  • Mobile device limited space path generation method based on intelligent agent
  • Mobile device limited space path generation method based on intelligent agent
  • Mobile device limited space path generation method based on intelligent agent

Examples

Experimental program
Comparison scheme
Effect test

example 1

[0064] Example 1: Use the grid method to divide the workspace area of ​​a certain type of mobile robot, such as figure 2 As shown in , each grid represents a spatial area, and the basic information of the grid is explained as follows based on the division results:

[0065] 1) The number of grids is m×n, and the number of each grid is represented by two-dimensional coordinates (i, j), where i represents the row coordinate and j represents the column coordinate;

[0066] 2) Initialize each grid to two states, 0 means the grid is occupied, 1 means the grid is not occupied;

[0067] 3) Each divided grid may become a certain path point in the path generation of the mobile device agent, and all searched path points constitute the moving path of the mobile device.

[0068] Step 2: Encapsulation of the mobile device smart body.

[0069] In order to more truly reflect the ratio of the length and width of the mobile device during movement, the present invention simplifies the moving ...

example 2

[0071] Example 2: Continuing from Example 1, the size of the robot when moving is 1.2m*0.8m, the basic parameters of the robot are shown in Table 1, and the time when the robot starts to move is defined as time 0.

[0072] Table 1 Robot related parameters

[0073]

[0074]

[0075] 2) The deviation function of the movable device agent moving from the initial position to the target position is f goal said, f goal The bigger it is, the more unfavorable it is to get close to the target position, f goal for: Among them, θ(A i ) means that the mobile device agent is at position A i The angle from the target position G at time, Indicates that the mobile device agent is at position A i The deviation between the direction of motion and the direction of the target position at time, and alpha 1 , α 2 Indicates the weight of the two offset angle elements of the mobile device agent on its running towards the goal, and α 1 +α 2 =1.

example 3

[0076] Example 3: Continuing from Example 2, the robot’s initial position (580,76) before moving and the target position (620,120) have a deflection angle of θ(A i ), whose weight is 0.6; when moving, the direction of movement deviates from the target position Taking its weight as 0.4, then

[0077] Step 3: Build a multi-agent path generation framework.

[0078] Describe the overall behavior of each mobile device agent as the behavior of running towards the target and avoiding obstacles; the behavior of running towards the target is expressed by f goal to represent that the obstacle avoidance behavior is the behavior of the aircraft looking for a space agent whose state is 1, see Figure 5 .

[0079] 1) The time when the mobile device agent starts to move at its initial position is 0. Through a series of path searches, each path point is obtained to form a complete path from the initial position to the destination of the mobile device agent.

[0080] 2) Record the time ...

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Abstract

The invention discloses a mobile device limited space path generation method based on an intelligent agent, supporting a path generation problem of a mobile device in a limited space. The mobile device limited space path generation method based on the intelligent agent comprises the following steps: 1, space intelligent agent packaging: using a regular hexagonal grid to segment and package the space environment of the mobile device, and each grid acts as a space intelligent agent representing a spatial area; 2, mobile device intelligent agent packaging: simplifying the shape of the mobile device in movement to a circle, and defining a deviation function fgoal of the mobile device moving from a starting position to a target position; 3, building a path generation framework for multiple intelligent agents: describing the overall movement of each mobile device intelligent agent as a behavior of running toward the target and obstacle avoidance behaviors; and 4, determination of the path selected based on the space intelligent agent: defining a determination function generating the path of the mobile device intelligent agent, and selecting the next space intelligent agent according to the determination function; and 5, eliminating space intelligent agent conflicts: eliminating the space intelligent agent conflicts by using wait or bypass strategies.

Description

Technical field [0001] The present invention provides a method for generating a limited space path based on an agent-based movable device, especially a method for generating a path based on an agent, which encapsulates space and mobile devices into an agent, and improves A-Star(A*) The method generates a moving path of a movable device in a limited space, and belongs to the field of industrial engineering. Background technique [0002] The problem of path generation for mobile devices, such as automobiles and mobile robots, has been widely concerned. When the movable area is large, the movable device is regarded as a mass point for research. However, when the mobile device moves in a limited space, the size of the obstacle and the size of the mobile device will affect the moving efficiency of the mobile device, so it cannot be regarded as a particle for research. Due to the typical NP-hard characteristics of path planning, an effective search method can obtain the optimal ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/34
CPCG01C21/3446
Inventor 冯强崔博文王自力任羿孙博杨德真
Owner BEIHANG UNIV
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