An agent-based path generation method for mobile devices in limited space

A mobile device and path generation technology, applied in the directions of measurement devices, road network navigators, navigation, etc., can solve the problems affecting the moving efficiency of mobile devices, and achieve the resolution of spatial agent conflicts, ensure validity, and accurate path generation results. Effect

Active Publication Date: 2022-01-11
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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  • An agent-based path generation method for mobile devices in limited space
  • An agent-based path generation method for mobile devices in limited space
  • An agent-based path generation method for mobile devices in limited space

Examples

Experimental program
Comparison scheme
Effect test

example 1

[0065] 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:

[0066] 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;

[0067] 2) Initialize each grid to two states, 0 means the grid is occupied, 1 means the grid is not occupied;

[0068] 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.

[0069] Step 2: Encapsulation of the mobile device smart body.

[0070] 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

[0072] 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.

[0073] Table 1 Robot related parameters

[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, and alpha 1 , α 2 Indicates the weight of the two offset angle elements of the mobile device agent towards the target, 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 represented 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, and through a series of path searches, each path point is obtained to form a complete path of the mobile device agent from the initial position to the destination.

[0080] 2) Record the...

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Abstract

The invention discloses a method for generating a path in a limited space of a movable device based on an intelligent body, which supports the problem of generating a path of a movable device in a limited space. The steps are as follows: 1. Spatial agent packaging. The space environment of the mobile device is segmented and encapsulated by regular hexagonal grids. Each grid acts as a spatial agent and represents a space area. 2. Smart body packaging for mobile devices. Simplify the moving shape of the movable device into a circle, and define its deviation function f from the initial position to the target position goal . 3. Build a multi-agent path generation framework. The overall movement of each mobile device agent is described as goal-going behavior and obstacle avoidance behavior. 4. Path determination based on spatial agent selection. Define the determinate function for path generation of the mobile device agent, and select the next spatial agent according to the deterministic function. 5. Resolve conflicts between spatial agents. Use waiting or detour strategies to resolve conflicts between spatial agents.

Description

[0001] Technical field [0002] 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 [0003] 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 movement 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...

Claims

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Application Information

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Patent Type & Authority Patents(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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