Hybrid path planning method for mobile robot

A mobile robot, hybrid path technology, applied in two-dimensional position/channel control and other directions, can solve the problem of no algorithm or method path planning, achieve rapid planning, improve quality and efficiency, and ensure real-time and safety. Effect

Inactive Publication Date: 2019-05-14
XIAN TECHNOLOGICAL UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, whether it is global path planning or local path planning, there will be more or less limitations in different applications, and there is no general algorithm or method that can solve all path planning situations.

Method used

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  • Hybrid path planning method for mobile robot
  • Hybrid path planning method for mobile robot
  • Hybrid path planning method for mobile robot

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Embodiment Construction

[0027] The present invention will be further described in detail below through specific embodiments in conjunction with the accompanying drawings. The characteristics, operations or characteristics described in the specification can be combined in any appropriate manner to form various embodiments. At the same time, the steps or actions in the method description can also be exchanged or adjusted in a manner obvious to those skilled in the art. Therefore, various sequences in the specification and drawings are only for clearly describing a certain embodiment, and do not mean a necessary sequence, unless otherwise stated that a certain sequence must be followed.

[0028] A mixed path planning method for a mobile robot of the present invention mainly includes building a global map, global path planning and local path planning.

[0029] In the part of building the global map, due to changes in illumination, changes in the viewing angle of the mobile robot, or operator errors, the...

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Abstract

The invention relates to a hybrid path planning method for a mobile robot. A global map is constructed, and on the basis of the global map, hybrid path planning is conducted through a combination of arapid exploring random tree algorithm and a time elastic band algorithm. The hybrid path planning method for the mobile robot combines global path planning and local path planning to achieve mutual compensation under a constraint condition and improve quality and efficiency of a path planning solution; and compared with a single planning method, the hybrid path planning method for the mobile robot has the characteristics that a global path can be quickly planned, dynamic planning and obstacle avoidance functions are realized, and real-time capability and safety of a mobile robot in motion areensured.

Description

technical field [0001] The invention belongs to the technical field of robot control, in particular to a mixed path planning method for a mobile robot. Background technique [0002] The development level of robot technology is an important factor to measure the comprehensive national strength of a country. At present, many countries have included robot technology in their national high-tech development plans, and its development also presents two prominent features: on the one hand, its application fields continue to expand and its types are increasingly diverse, and it is gradually becoming a powerful tool for human beings to transform the world; On the one hand, with the continuous development of robot-related technologies and the gradual integration of cutting-edge disciplines such as artificial intelligence and bionics, the interactivity and safety of robots are steadily improving, and they are becoming more and more closely related to human activities. [0003] Today, ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
Inventor 曹凯陈阳泉高佳佳高嵩陈超波马天力
Owner XIAN TECHNOLOGICAL UNIV
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