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Path planning method of mobile robot on finite element map

A mobile robot, finite element technology, used in navigation computing tools and other directions

Active Publication Date: 2019-07-26
ANHUI UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

In recent years, this problem has been solved well by roadmaps, cell decomposition, potential field methods, sampling-based planning and intelligent algorithms, but often not well on different maps, especially on maps with long and narrow passages solve this problem

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  • Path planning method of mobile robot on finite element map
  • Path planning method of mobile robot on finite element map
  • Path planning method of mobile robot on finite element map

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Embodiment Construction

[0018] The technical solution of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0019] The present invention provides a mobile robot path planning method with a finite element map. The general idea is as follows: firstly, the finite element map is discretely established to establish a weighted undirected cyclic graph, and then the Dijkstra search algorithm is used to search out the path from the initial pose point B 1 From the target point to the target point Bu, the key landmarks are extracted between the searched target points through the Douglas-Peucker algorithm, and finally the cubic natural spline function is used to fit the key landmarks to obtain a smooth planning path without collision.

[0020] like figure 1 As shown, the mobile robot path planning method of the finite element map of the present invention, the specific implementation includes the following steps (1) to (7):

[0021] (1) The operating environm...

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Abstract

The invention discloses a path planning method of a mobile robot on a finite element map, comprising steps of dispersing a continuous feasible region into a finite unit assemblies, establishing a weighted undirected circular graph with a set of nodes and a set of unit edges in different length on the finite element map, then searching all the target points from a start position to an end positionthrough a Dijkstra search algorithm according to the weighted undirected circular graph, deleting edge nodes of the non-corner points belonging to the redundant nodes through a DouglasPeucker algorithm, extracting key landmarks, finally obtaining a motion path of the robot with the key landmarks obtained by cubic nature spline function fitting. The method of the present invention can find the planned collision-free motion path of the robot accordin to different obstacle positions in the operating environment where the robot is located, and is more consistent with the actual situation, and particularly suitable for the motion path planning of a robot on a map with a narrow passageway.

Description

technical field [0001] The invention relates to the field of path planning, in particular to a method for path planning of a mobile robot based on a finite element map. Background technique [0002] Robot path planning is an important field of robot research and an important part of robot technology. The robot path planning problem focuses on finding a collision-free path from an initial configuration to a goal configuration. In recent years, this problem has been solved well by roadmaps, cell decomposition, potential field methods, sampling-based planning and intelligent algorithms, but often not well on different maps, especially on maps with long and narrow passages solve this problem. [0003] For this reason, the present invention provides a mobile robot path planning method of a finite element map. In order to obtain the optimal non-collision path, the finite element map model established allows it to pass through long and narrow passages without collision, which is ...

Claims

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Application Information

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IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 姜媛媛时美乐刘延彬
Owner ANHUI UNIV OF SCI & TECH