Path planning method under mobile robot multi-constraint condition

A mobile robot and path planning technology, applied in the field of mobile robots, can solve problems such as rough paths and difficult paths to track, and achieve the effect of smooth paths, easy tracking, and satisfying curvature constraints

Inactive Publication Date: 2019-03-29
UNIV OF ELECTRONIC SCI & TECH OF CHINA
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  • Abstract
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  • Claims
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Problems solved by technology

[0007] The object of the present invention is to provide a path planning method for a mobile robot under multi-constraint conditions, which solves the prob

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  • Path planning method under mobile robot multi-constraint condition
  • Path planning method under mobile robot multi-constraint condition
  • Path planning method under mobile robot multi-constraint condition

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Embodiment 1

[0066] A preferred embodiment of the present invention provides a path planning method for mobile robots under multiple constraints. The present invention is mainly aimed at robots moving on a two-dimensional plane, such as figure 1 shown, including the following steps:

[0067] Step 1: Set the control points of the B-spline curve, combine the curve order K and other parameters to obtain several B-spline curves composed of discrete points, and then use these B-spline curves to represent several initial robot paths. Control points include starting point S, end point D, random point, fixed control point p 1 and a fixed control point p 2 , the fixed control point is used to control the start and end directions of the path;

[0068] Step 1.1: Considering that the path generally does not appear to be twisted or crossed back and forth, the order of the control points is generally set from the start point to the end point, and it is also convenient for the initial position of the s...

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Abstract

The invention discloses a path planning method under a mobile robot multi-constraint condition, and belongs to the technical field of the mobile robots. The method comprises the following steps: firstly setting controls points of multiple groups of B spline curves, and then obtaining a plurality of B spline curves composed of discrete points, and representing the plurality of initial robot paths by using the curves; initializing a glowworm swarm through a random point in the control points, computing an initial comprehensive cost value of each glowworm according to a cost function by comprehensively considering the time efficiency, an environmental map and the multi-constraint condition of the robot body motion curvature radius; and then minimizing the glowworm comprehensive cost value according to the glowworm algorithm standard flow so as to obtain a final glowworm swarm and a comprehensive cost value thereof; and selecting the glowworm with the minimum comprehensive cost value as the optimal glowworm, thereby obtaining one group of optimal B spline curve control points, and generating the optimal robot path. The problem that the path is unsmooth and hard to track through the existing path planning method of the mobile robot is solved.

Description

technical field [0001] The invention belongs to the technical field of mobile robots, and relates to a path planning method for a mobile robot under multi-constraint conditions. Background technique [0002] The traditional path planning method of mobile robot mainly relies on discretization of the environment, and most of them use A* and other search algorithms to obtain the path between the starting point and the end point. This path is the absolute shortest path under the resolution of the environmental map, but due to the map It is discrete. Although the path obtained based on the search algorithm is the shortest path, it is not necessarily a smooth path. It is difficult for a robot to track this path. [0003] Therefore, in recent years, many scholars have begun to vigorously study path planning methods that satisfy path smoothness and are close to the shortest path, and try to use polynomial curves, Bezier curves, or B-spline curves to represent smooth paths; but the p...

Claims

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Application Information

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IPC IPC(8): G05D1/02G05B13/04
CPCG05B13/042G05D1/0212
Inventor 魏敦文彭倍王斐然于慧君吕文薪
Owner UNIV OF ELECTRONIC SCI & TECH OF CHINA
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