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Mixed path planning method applied to motion control of indoor mobile robots

A robot motion and hybrid path technology, applied in the field of robotics, can solve the problems of poor local planning optimality, local minimum value, unreachable target, etc., and achieve the effects of good completeness, improved execution efficiency, and convenient calculation.

Active Publication Date: 2019-06-28
SOUTHEAST UNIV
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AI Technical Summary

Problems solved by technology

[0004] The present invention provides a path planning method for an indoor mobile robot, which solves the problems of poor timeliness of global planning and poor optimality of local planning through the integration of global and local path planning, and adopts parallel Bi-directionalA-star algorithm At the cost of path optimality, the global search efficiency is greatly improved. The improved APF is used to solve the traditional APF collision, target unreachable, and local minimum problems, which greatly improves the completeness of local path planning. At the same time, a window-APF implementation is proposed. The method greatly reduces the amount of calculation in the dynamic environment, and further improves the timeliness of the system

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  • Mixed path planning method applied to motion control of indoor mobile robots
  • Mixed path planning method applied to motion control of indoor mobile robots
  • Mixed path planning method applied to motion control of indoor mobile robots

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Embodiment Construction

[0027] The present invention will be further described in detail below in conjunction with the embodiments and the accompanying drawings, but the embodiments of the present invention are not limited thereto.

[0028] like figure 1 As shown, the present invention designs a hybrid path planning method and system for indoor mobile robot motion control, including the following steps:

[0029] Step 1. Establish a global grid map model of the indoor robot working environment, and set the starting point and target point of the robot movement;

[0030] First, the Kinect sensor is used to scan the entire environmental information, and the global grid map information of the indoor environment is obtained through SLAM technology. The grids use values ​​0-1 to represent accessible and unreachable areas in the actual environment.

[0031] Step 2. Obstacle preprocessing in the grid map;

[0032] By making the adjacent grids of unreachable grids unreachable, the expansion processing of the...

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Abstract

The invention discloses a mixed path planning method applied to motion control of indoor mobile robots and belongs to the technical field of robots. The mixed path planning method is combined with a global path planning method of a static environment and a local path planning method of a dynamic environment. The mixed path planning method is used for supplying external environment information input to a system through an external sensor so as to build a grid model. The invention discloses a mixed path planning method with fusion of a parallel Bi-directional A-star algorithm and an improved artificial potential field algorithm; the parallel Bi-directional A-star algorithm is used for searching global and static paths; the improved artificial potential field (APF) algorithm is used for searching local and dynamic paths; and finally, the path data obtained by the mixed method is used for controlling movement of the robots. The mixed path planning method has higher adaptability to the indoor environment; and the paths obtained by a series of measures and optimization methods have extremely high completeness and higher optimality.

Description

technical field [0001] The present invention relates to the field of robot technology, in particular to a hybrid path planning method for indoor mobile robot motion control Background technique [0002] With the continuous development and maturity of robot technology, robot research is developing towards intelligence. The application of robots is no longer limited to helping humans complete some difficult tasks in traditional manufacturing, and has begun to enter space exploration, medical treatment, entertainment, services and many other areas. Among them, autonomous mobile robots dominate in various application areas. [0003] As an important part of the robot field, path planning is mainly responsible for providing a collision-free optimal path for the robot from the initial state to the target state in an environment with obstacles. Mobile robots with path planning functions can realize autonomous obstacle avoidance and navigation functions in known environments, parti...

Claims

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Application Information

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IPC IPC(8): G01C21/20
Inventor 李冰包丽张林王亚洲王刚刘勇董乾赵霞
Owner SOUTHEAST UNIV
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