New robot path planning method for dynamically changed target point

Abstract

A new robot path planning method for a dynamically changed target point includes the following steps: using a camera as a main sensor to detect an actual environment and using an image processing technique to characterize a mathematical model of the environment; initializing a path planning model and a firefly algorithm parameter; detecting the distance between a robot and an obstacle within the detection range of the camera, and designing a robot movement strategy: if the distance to the current obstacle is greater than the safety distance, moving the robot linearly toward the target point, otherwise, starting the firefly algorithm to construct a new fitness function to calculate the optimal position of the next step, and updating the robot position and a dynamic target point position; and stopping updating when the robot reaches the dynamic target point. The fitness function constructed by the method is updated in real time according to the dynamic target point and an obstacle situation, has good dynamic practicability, starts two path planning strategies, improves planning efficiency, and has a good path planning capability for tracking the dynamic target point.

Description

technical field [0001] The invention relates to an intelligent path planning method, in particular to a new firefly path dynamic planning method with dynamically changing target points. Background technique [0002] Robots have replaced humans in many basic social activities. However, designing an efficient navigation strategy for mobile robots and ensuring their safety are the most important issues in autonomous robotics. Therefore, the path planning problem is one of the most important problems in robot motion. [0003] In the actual robot service process, there are often scenes where the target point changes dynamically. For example, if a mobile robot is used to deliver food in a restaurant, when a customer changes seats, it is equivalent to a change in the target point of the robot. It is necessary to dynamically track the target point and plan a new path in time. Similarly, in some logistics and distribution processes, the target point will also move. How to make th...

AI Technical Summary

Problems solved by technology

[0005] Due to the change of the target point, the robot should not only avoid the existing obstacles in the environment during the movement process, but also adjust the moving direction according to the change of the target point, and consider that the current moving route is the optimal solution. Therefore, construct the fitness of fireflies The function must be associated with obstacles and target points; the firefly algorithm, like other heuristic intelligence methods, has a common problem of low computational efficiency. In order to improve the computational efficiency of path planning, this invention introduces strategy selection technology in the path planning process

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