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Navigation robot path planning method and device, robot and storage medium

A path planning and robotics technology, applied in the field of robotics, can solve problems such as slow efficiency

Active Publication Date: 2019-07-23
XIAMEN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, most algorithms study the path planning between two points in a two-dimensional plane. Although an algorithm alone can solve the actual robot path planning problem, it is always relatively slow in efficiency.

Method used

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  • Navigation robot path planning method and device, robot and storage medium
  • Navigation robot path planning method and device, robot and storage medium
  • Navigation robot path planning method and device, robot and storage medium

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Embodiment Construction

[0021] The application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain related inventions, rather than to limit the invention. It should also be noted that, for ease of description, only parts related to the invention are shown in the drawings.

[0022] It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and embodiments.

[0023] Please refer to figure 1 , figure 1 A schematic flow chart of a route planning method for a navigating robot provided in an embodiment of the present application is shown.

[0024] like figure 1 As shown, the method includes:

[0025] Carry out map drawing;

[0026] Obtain the coordina...

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PUM

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Abstract

The invention provides a navigation robot path planning method and device, a robot and a storage medium. The method comprises the following steps: performing map drawing; obtaining a starting point coordinate value and an end point coordinate value of the robot; performing planning by using an artificial potential field method in a path planning stage, jumping out of a local minimum value by usinga PRM random point scattering method, randomly scattering points in a free space of the map, wherein the point scattering number is self-defined, and the point scattering mode is combining a random point scattering strategy with the artificial potential field method, constructing a path grid graph, and performing query by using the A* algorithm to further improve the stability of the algorithm; and outputting an optimal path without collision. According to the navigation robot path planning method provided by the invention, the artificial potential field method can be combined with the PRM algorithm to improve the node utilization rate, thereby reducing the number of nodes, improving the efficiency of the algorithm, and shortening the time taken for the robot path planning.

Description

technical field [0001] The present application relates to the field of robots, and in particular to a path planning method, device, robot and storage medium for a navigating robot. Background technique [0002] The application of robots has gradually penetrated into all walks of life in society, such as tour guides, nursing care, and smart homes. At present, most algorithms study the path planning between two points in a two-dimensional plane. Although a single algorithm can solve the actual robot path planning problem, it is always relatively slow in efficiency. Contents of the invention [0003] In view of the above-mentioned defects or deficiencies in the prior art, a navigation robot path planning method, device, robot and storage medium thereof are provided. The PRM algorithm integrated with the artificial potential field method improves the utilization of nodes, thereby reducing the number of nodes, improving the efficiency of the algorithm, and reducing the time sp...

Claims

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Application Information

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IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 姚俊峰刘晓鹏
Owner XIAMEN UNIV