Mobile robot path planning method based on network tearing method

A mobile robot and path planning technology, applied in the field of robotics, can solve problems such as the overall application is not very successful, the process is complex, and the path planning accuracy is poor.

Inactive Publication Date: 2019-09-03
SHAANXI SCI TECH UNIV
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Problems solved by technology

Chinese patent "A Method and System for Robot Path Planning Based on Topological Maps" (application date: 2018.04.27; application number: CN2018103933653; publication date: 2018.10.16; patent number: CN108664022A) discloses robot path planning based on topological maps Method and system, the process of establishing a topological network by the topology method is quite complicated; Chinese patent "A Path Planning Method for Dividing 3D Point Cloud Surfaces by Discontinuous Grids" (application date: 2018.03.09; application number: CN2018101961343; public Date: 2018.08.21; Patent No.: CN108422670A) discloses a path planning method fo

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  • Mobile robot path planning method based on network tearing method
  • Mobile robot path planning method based on network tearing method
  • Mobile robot path planning method based on network tearing method

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Embodiment Construction

[0061] The present invention will be described in detail below in combination with specific embodiments.

[0062] The present invention is based on the mobile robot path planning method of the network tearing method, such as figure 1 As shown in Fig. 1, the basic driving route is the line from the starting point to the target point, and the obstacle network model is established by using the network tearing method, and the sub-network is torn out, and the minimum path and time of the mobile robot are calculated by mathematical fitting. The weight value is used to obtain the optimal path planning for the mobile robot to reach and bypass the next obstacle, and to adjust the basic route, which specifically includes the following steps:

[0063] Step 1) Find out the geometric center of the obstacle, take the geometric center of the obstacle as the origin, take the distance from the geometric center of the obstacle to the farthest boundary point as the radius, and make the circumscr...

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Abstract

The invention discloses a mobile robot path planning method based on a network tearing method. A connecting line from a starting point to a target point is used as a basic driving route. An obstacle network model is established by using a network tearing method and sub networks are torn; mathematical fitting is performed and minimum weights of a path and time of a mobile robot are calculated respectively; an optimal path plan of arriving at a next obstacle and going around the next obstacle by the mobile robot is obtained; and the basic route is adjusted. According to the invention, the mobilerobot path planning method is simple and clear and has high implementability. The mobile path can be corrected effectively based on the obstacle and the path can be adjusted timely and flexibly basedon newly added obstacle, so that the optimal path plan is realized. When the mobile robot moves, the collision with the obstacle is avoided effectively, so that the service life of the mobile robot is prolonged.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a path planning method for a mobile robot based on a network tearing method. Background technique [0002] At present, the most typical robot global path planning methods include grid method, visual graph method, topology method, free space method, artificial neural network method and so on. Chinese patent "A Method and System for Robot Path Planning Based on Topological Maps" (application date: 2018.04.27; application number: CN2018103933653; publication date: 2018.10.16; patent number: CN108664022A) discloses robot path planning based on topological maps Method and system, the process of establishing a topological network by the topology method is quite complicated; Chinese patent "A Path Planning Method for Dividing 3D Point Cloud Surfaces by Discontinuous Grids" (application date: 2018.03.09; application number: CN2018101961343; public Date: 2018.08.21; Patent No....

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0217G05D2201/0217
Inventor 张鹏超李海婷
Owner SHAANXI SCI TECH UNIV
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