Unlock instant, AI-driven research and patent intelligence for your innovation.

A Path Planning Method for Mobile Robots in Dynamic Environment

A mobile robot, dynamic environment technology, applied in the field of robots, can solve problems such as poor smoothness, dynamic obstacle collision, lack of global optimality, etc., to improve safety and reliability, and reduce the probability of collision.

Active Publication Date: 2021-11-23
INFORMATION SCI RES INST OF CETC
View PDF8 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] Existing obstacle avoidance methods can largely avoid the negative impact of dynamic objects on the autonomous movement of mobile robots, but they also have certain limitations: 1) The movement direction selected by the obstacle avoidance method is usually selected from a local perspective. It does not have global optimality, which makes the quality of the motion path of the mobile robot drop significantly during this period in order to avoid dynamic obstacles, such as the selected path length is longer and the smoothness is poor; 2) This type of technology usually does not consider The movement trend of dynamic obstacles is only considered from the principle of choosing the movement direction closer to the navigation target or not destroying the original planned path as much as possible, which makes it impossible to guarantee the obstacle avoidance effect, and its avoidance direction may be different from the movement of dynamic obstacles. Direction conflicts, but it is easy to collide with dynamic obstacles

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • A Path Planning Method for Mobile Robots in Dynamic Environment
  • A Path Planning Method for Mobile Robots in Dynamic Environment
  • A Path Planning Method for Mobile Robots in Dynamic Environment

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0028] figure 1 It shows a schematic flowchart of a method for path planning of a mobile robot in a dynamic environment according to an embodiment of this specification, including steps 202 to 212:

[0029] Step 202: Establish a global grid map, the map covers the starting position and target position of the mobile robot movement, and is a rectangular area composed of square grids, and the side length of each grid is c size , which contains the situation information of being occupied by obstacles.

[0030] Step 204: Detect all obstacles in the global grid map, and filter out dynamic obstacles according to the characteristics and position changes of the obstacles.

[0031] The grids in the global grid map are divided into static grids occupied by static obstacles, dynamic grids occupied by dynamic obstacles, and free grids not occupied; the marking method of dynamic grids is as follows stated;

[0032] Detect all obstacles within a given range from the starting position to t...

Embodiment 2

[0056] This specification also provides a dynamic path planning device in a dynamic environment, such as figure 2 shown, including:

[0057] The environment model construction module 11 is configured to establish a global grid map, which can cover the starting position of the mobile robot movement and the target position of the mobile robot movement;

[0058] The dynamic obstacle detection module 12 detects all obstacles in the global grid map during the mapping process; meanwhile, screens out dynamic obstacles according to the characteristics and position changes of the obstacles, and converts each The grids corresponding to dynamic obstacles are marked in the global grid map;

[0059] The dynamic obstacle impact analysis module 13 is configured to, in the global grid map, for the dynamic obstacle, according to its movement trajectory within the given time period set period, predict the future within the given time period set period The motion trend, divide the motion trac...

Embodiment 3

[0063] image 3 A structural block diagram of a computing device 110 for realizing path planning of a mobile robot in a dynamic environment according to an embodiment of the present specification is shown. Components of the computing device 110 include, but are not limited to, a memory 110 , a processor 120 , and computer instructions stored on the memory 110 and executable on the processor 120 . The processor 110 is configured to perform data processing and analysis according to user instructions received by the computing device 110 and computer instructions stored in the memory 110 . The memory 110 and the processor 120 are connected by a bus. When the processor executes the instructions, steps in a method for path planning of a mobile robot in a dynamic environment are implemented.

[0064] Computing device 110 may also include a network interface through which computing device 110 communicates with one or more networks. The network interface may include one or more of a...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses a path planning method for a mobile robot in a dynamic environment, which specifically includes: establishing a global grid map; screening out dynamic obstacles from detected obstacles according to the characteristics and position changes of the obstacles; analyzing the dynamic Obstacle movement trend, and determine the corresponding influence area within the set period; for each grid in the influence area, calculate the probability of being occupied by each dynamic obstacle within the set period, and use the maximum probability As the probability that the grid is occupied; from the starting position to the target position, a candidate path is generated according to a given rule, and each candidate path is performed according to whether the candidate path passes through a static obstacle, length, and the probability of a dynamic grid Evaluation: The candidate path with the best evaluation result is taken as the final planned path. The invention greatly reduces the probability of collision with dynamic obstacles when the mobile robot moves along the final planned path, and improves the safety and reliability of the mobile robot movement.

Description

technical field [0001] The invention relates to the field of robots, in particular to a method and device for path planning of a mobile robot in a dynamic environment, a computing device and a computer-readable storage medium. Background technique [0002] During the movement of mobile robots (including self-driving cars, etc.), it is necessary to perceive, analyze and calculate environmental information, combined with the positioning of the mobile robot itself and the target position, using obstacle avoidance and mobile robot path planning methods to achieve autonomous navigation. However, the presence of dynamic objects in the environment poses a great challenge to the navigation of mobile robots. In the process of constructing the environment map, dynamic objects may be built into the map as inherent factors in the environment, so that there may be movement trajectories of dynamic objects in the environment map, and mobile robots are vulnerable to their movement trajector...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
Inventor 孟祥瑞查文中葛建军王蓉孟繁乐
Owner INFORMATION SCI RES INST OF CETC