Mobile robot path planning method based on parameterized level set

A mobile robot, path planning technology, applied in the direction of navigation calculation tools, etc., can solve the problems of large amount of calculation, rough results, large path fluctuation, etc., to achieve the effect of improving quality and avoiding calculation

Active Publication Date: 2019-09-06
XI AN JIAOTONG UNIV
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Problems solved by technology

Due to the blindness of the search in the graph search method, the amount of calculation increases with the expansion of the environment; the results obtained by the map construction method are relatively rough; the artificial

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  • Mobile robot path planning method based on parameterized level set
  • Mobile robot path planning method based on parameterized level set
  • Mobile robot path planning method based on parameterized level set

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Embodiment Construction

[0051] The following further clarifies the present invention with reference to the drawings and specific embodiments in the C-shaped labyrinth. It should be understood that the embodiments are only used to illustrate the present invention.

[0052] Such as figure 1 As shown, the mobile robot path planning method based on parameterized level sets provided by the present invention includes the following steps:

[0053] 1) Construct the analysis domain and the location of the heat source and heat sink for the equivalent heat conduction problem:

[0054] The mobile robot path planning problem is equivalent to the topology optimization problem of the heat conduction path, the obstacle area is mapped to the non-design domain, the mobile robot free motion space is mapped to the design domain, the mobile robot starting point is mapped to the heat source, and the mobile robot end point is mapped to the heat sink ;

[0055] 2) Establish the finite element calculation model of the base structure...

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Abstract

The invention discloses a mobile robot path planning method based on a parameterized level set. The method comprises: enabling a mobile robot path planning problem to be equivalent to a topology optimization problem of a heat conduction path; establishing a finite element calculation model of a base structure; and with the heat dissipation weakness as an objective function, determining a growth direction of each step of cooling channel based on a topology optimization method expressed by a parameterized level set, and acquiring a planned path based on continuous growth of the cooling channel.Therefore, a problem of falling into local optimum is solved fundamentally. The generated path is one with the low energy consumption by using the heat dissipation weakness as the objective function;the generated path is formed by a series of explicit geometric points and can be applied to navigation of the mobile robot directly; on the basis of combination of the growth conception, the high computing load in one operation is avoided and the planning quality is improved; and since the growth direction is not limited by the underlying mesh, searching is performed freely to obtain an optimal path that is better than that in the traditional method.

Description

Technical field [0001] The invention belongs to the technical field of robot path planning, and specifically relates to a method for path planning of a mobile robot based on a parameterized level set. Background technique [0002] As a category of robots, mobile robots are widely used in factory automation, intelligent transportation and life services. How to find a safe collision-free path from the starting point to the end point in the configuration space of a mobile robot is an important direction of robot research. The existing path planning methods mainly include map search method, map construction method, artificial potential field method and heuristic method. Because of the blindness of the search method, the calculation amount increases with the expansion of the environment; the results obtained by the map construction method are relatively rough; the artificial potential field method has the problems of local minimum and path oscillation near obstacles; heuristic method...

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Application Information

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IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 李宝童赵根李小虎刘宏磊
Owner XI AN JIAOTONG UNIV
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