Path planning method for robot leaded by global planner

A technology of global planning and path planning, applied in the field of robotics, can solve the problems of complex evaluation factors, many paths, and consumption of computing resources of the local path evaluator, and achieve the effect of overcoming transparent obstacles that cannot be avoided

Inactive Publication Date: 2019-05-28
NORTHWESTERN POLYTECHNICAL UNIV
View PDF7 Cites 21 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

These navigation algorithms need to evaluate the global path, which consumes unnecessary computing resources in indoor environments where the frequency of environmental changes is low
At the same time, the local path planners of these navigation al

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
  • Path planning method for robot leaded by global planner
  • Path planning method for robot leaded by global planner
  • Path planning method for robot leaded by global planner

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0022] Now in conjunction with embodiment, accompanying drawing, the present invention will be further described:

[0023] The navigation algorithm includes the following steps: SLAM, 3D robot construction, robot positioning, building a local grid map, setting the end point, planning a global path, planning a local path, updating the global and local grid maps, and updating the state of the robot.

[0024] The SLAM step 1 is to use the lidar sensor to map the indoor environment. This step will generate a two-dimensional virtual map for the initial positioning of the robot, obstacle positioning and path planning.

[0025] The step 2 of the three-dimensional robot construction includes the following steps: setting the shape of the robot, setting the size of the robot, and setting the coordinates of the center point of the robot. This step virtualizes the physical robot, and the virtualized robot is the execution unit of the navigation movement. The robot will be displayed on the...

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 relates to a path planning method for a robot leaded by a global planner. The method comprises the following steps of SLAM, construction of the three-dimensional robot, robot locating, construction of a local raster map, setting of an end point, global path planning, local path planning, updating of global and local raster maps and updating of robot states. Evaluation for global pathplanning is cancelled, although there is the global planner, actually, a path generated by the global planner is not evaluated, an existing local path planner and an existing local path evaluator aremainly improved, and traditional evaluation factors are revised as the number of barriers, the straight-line distance between the path and the nearest barrier, the path curvature and the like, wherein distances between the barriers and the robot are less than some value (depending on the actual environment). According to the method, data of a laser radar and ultrasonic waves is combined, and theproblem that a robot based on the laser radar cannot avoid transparent barriers is solved.

Description

technical field [0001] The invention relates to the field of robots, specifically, a two-dimensional navigation algorithm with a global planner as the main and a local planner as the auxiliary. Background technique [0002] Path planning refers to the optimal path optimization problem of robots. It has a rich application background, including sweeping robots and unmanned driving. The current common navigation algorithms are mainly based on local planners, supplemented by global planners, which are suitable for scenarios with high frequency of environmental changes, such as DWA dynamic window algorithm. These navigation algorithms need to evaluate the global path, which consumes unnecessary computing resources in indoor environments where the frequency of environmental changes is low. At the same time, the local path planners of these navigation algorithms generate too many paths, which are not suitable for indoor environments with low frequency of environmental changes. The...

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
IPC IPC(8): G05D1/02
Inventor 郑江滨王硕刚
Owner NORTHWESTERN POLYTECHNICAL UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap