Path optimization method and system for environment-perception mobile robot

Abstract

The invention discloses a path optimization method and system for an environment-perception mobile robot. The path optimization method for the environment-perception mobile robot comprises the following steps of 1, determining a current perception task, calculating key geographic position information perceived by the robot according to representativeness and accuracy of perception environment, andacquiring historical path data and historical movement parameters of other mobile robots in completing similar tasks; 2, screening out alternative paths according to the key geographical position information, and then adopting a neural network or other optimization algorithms to grade different historical paths; and 3, selecting an optimal path according to grading results. According to the pathoptimization method and system for the environment-perception mobile robot, the path for executing environment perception tasks by the mobile robot is optimized, and efficiency of environment perception and accuracy, timeliness, effectiveness and representativeness of perceiving results are improved.

Description

technical field [0001] The present invention relates to the technical field of environment perception, in particular to a method and system for path optimization of a mobile robot for environment perception. Background technique [0002] Environmental perception and the acquisition of related parameters are the prerequisites for the completion of related control systems. With the continuous development of research and related technologies, the use of mobile robots to perceive non-friendly environments is a commonly used method and technology. [0003] Environmental perception has always been one of the hot issues in current research, and the current methods can be roughly divided into three types: [0004] 1. Design a portable multi-parameter sensing instrument based on the embedded system. When it is necessary to sense environmental parameters, install the instrument at the test site, conduct multi-parameter tests on the monitoring or test environment, and then store the d...

AI Technical Summary

Problems solved by technology

[0007] However, none of the above three environment perception methods optimize the path for the mobile robot to perform environment perception tasks, and the path optimization techniques in the prior art generally use the shortest path algorithm

However, in many environmental sensing situations, such as the greenhouse environment of agricultural greenhouses, the sensing location with the shortest path is not the best point for environmental sensing, and the representativeness and accuracy of the data obtained by sensing are poor. For example, the path at the edge of the greenhouse room may be the shortest , but the best point of environmental perception in the greenhouse room is not the edge of the room, but the center of the greenhouse room, so if the path generated by the shortest distance method is used for environmental perception, the perception result is not accurate, and the execution efficiency of the perception task is not high

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