A Fusion Visual Graph Method and Stable Sparse Random Fast Tree Robot Planning Algorithm

Abstract

The invention relates to a fusion visual graph method and a stable sparse random fast tree robot planning algorithm. It includes the following steps: S1. Construct a topology map based on the visualization method to model the environment; S2. Use the dijkstra algorithm to obtain the shortest path and use it as a reference path; Random sampling within a certain range of the path; S4. Use Bias-goal to improve the efficiency of the algorithm; S5. Within the current expansion range, select the nearest tree node from the current sampling point area according to the Dubins distance; S6. Use the horizontal control strategy to select the control amount Integrate the system model, and expand the node with the best dissipation first; S7. If there is no collision in the expansion process, check whether the generated new node is the optimal node in the local neighborhood; if it is optimal, join the tree structure and prune the current area the dominant node. The invention utilizes a stable sparse random fast tree algorithm to optimize the path generated by the visual graph method, so as to obtain the optimal path conforming to the non-integrity constraint robot constraint.

Description

technical field [0001] The invention belongs to the field of artificial intelligence automatic control, and more specifically relates to a fusion visual map method and a stable sparse random fast tree robot planning algorithm. Background technique [0002] Visibility Graph was proposed by Lozano and Wesley. The visualization method equates all actual obstacles to a collection of polygons projected into a plane. And expand the points corresponding to the starting point and the target point in space to the polygon set, and then combine the vertices of all obstacles (let V0 be the set of vertices of all obstacles), the starting point s and the target point g with a straight line Connected, and at the same time, it is required that the connection between the three parties cannot pass through obstacles, that is, the straight line is "visible", assigning weights to the edges in the graph, constructing a graph G(V,E), and the node set V=V0∪( s, g), E is the set of all arcs (Pi, P...

AI Technical Summary

Problems solved by technology

[0006] For the planning problem of robots with non-holonomic constraints in an unstructured road environment, there is no complete and mature technology at present. The existing technologies have the following problems: 1. It cannot ensure that the generated path is as short as possible; 2. The generated path is not perfect. Satisfy the non-integrity constraints of the robot; 3. The algorithm converges slowly

[0008] The application of the RRT algorithm is limited by the quality of the path, and cannot be optimized with the increase in the number of samples; the path generated by the RRT algorithm is not optimal, and is subject to random sampling. The paths generated each time are different, and the path cannot be guaranteed quality

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