A hybrid path planning method for motion control of indoor mobile robots
A robot motion and mixed path technology, applied in the field of robotics, can solve the problems of poor local planning optimality, reduce the amount of calculation, and local minimum, and achieve the effects of good completeness, improved calculation, and improved execution efficiency.
Active Publication Date: 2022-07-15
SOUTHEAST UNIV
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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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[0027] The present invention will be described in further detail below with reference to 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 environment information, and the global grid map information of the indoor environment is obtained through SLAM technology.
[0031] Step 2. Preprocessing of obstacles in the grid map;
[0032] The expansion processing of the global map environment is realized through the inaccessibility of the adjacent grids of the unreachable grid, and the new grid map after the expansion processing ...
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The invention discloses a hybrid path planning method for motion control of an indoor mobile robot, belonging to the field of robotics technology, which combines a global path planning method in a static environment and a local path planning method in a dynamic environment. The invention provides external environment information input for the system through external sensors, thereby establishing a grid model; the invention proposes a hybrid path planning method integrating the parallel Bi-directional A-star algorithm and the improved artificial potential field algorithm. The ‑directional A‑star algorithm performs global and static path search, and the improved APF algorithm performs local and dynamic path search. Finally, the motion of the robot is controlled by the path data obtained by the above hybrid method. The hybrid path planning method adopted in the present invention has stronger adaptability to the indoor environment, and the paths obtained by the series of measures and optimization methods adopted in the present invention have strong completeness and good optimality.
Description
technical field [0001] The invention relates to the technical field of robots, in particular to a hybrid path planning method for motion control of an indoor mobile robot Background technique [0002] With the continuous development and maturity of robot technology, robot research is developing towards intelligence, and 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 fields. [0003] As an important part of the robotics field, path planning is mainly responsible for providing a collision-free optimal path from the initial state to the target state for the robot in an environment with obstacles. Mobile robots with path planning functions can realize autonomous obstacle avoidance and navigation functions in known environments,...
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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
OwnerSOUTHEAST UNIV