Mobile robot path planning method based on network tearing method

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....

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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 for dividing a three-dimensional point cloud surface by a non-continuous grid. The grid division of this method directly affects its planning results, and the accuracy of path planning is poor

Chinese patent "Path Planning Method for Mobile Robots" (application date: 2015.01.20; application number: CN2015100282750; publication date: 2015.04.29; patent number: CN104571113A) discloses a path planning method for mobile robots, which uses artificial neural networks However, its overall application is not very successful. The environment encountered is ever-changing and random, and it is difficult to describe it with mathematical formulas.

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