Path Planning Method for Mobile Robots Based on Parameterized Level Set

Abstract

The invention discloses a method for path planning of a mobile robot based on a parameterized level set. In the method, the path planning problem of a mobile robot is equivalent to a topology optimization problem of a heat conduction path; then a finite element calculation model of a base structure is established; As the objective function, the topology optimization method expressed by parameterized level set is used to determine the growth direction of the cooling channel at each step, and the planned path is obtained through the continuous growth of the cooling channel; the problem of falling into local optimum is fundamentally solved by using the present invention; Weakness is the objective function, and the generated path is a path with little energy consumption; the generated path is composed of a series of explicit geometric points, which can be directly applied to the navigation of mobile robots; combined with the concept of growth, it avoids a large number of The calculation improves the quality of the planning; and the growth direction is not restricted by the underlying grid and can be searched freely, so it can obtain a path closer to the optimal path than the traditional method.

Description

technical field [0001] The invention belongs to the technical field of robot path planning, and in particular relates to a method for path planning of a mobile robot based on parameterized level sets. Background technique [0002] As a class of robots, mobile robots are widely used in factory automation, intelligent transportation and life services. How to find a safe and collision-free path from the start point to the end point in the configuration space of the mobile robot is an important direction of robot research. The existing path planning methods mainly include graph search method, map construction method, artificial potential field method and heuristic method. 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 potential field method has the problem of local minimum and the path oscillates near...

AI Technical Summary

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 potential field method has the problem of local minimum and the path oscillates near obstacles; the heuristic method Treating path planning as a discrete optimization problem leads to large fluctuations in the resulting path

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