Mobile robot path planning method for improving probabilistic roadmap method

A mobile robot and path planning technology, applied in the field of robotics, can solve the problems that the planned path is not optimal, it is difficult to ensure multiple sampling points, and the planned path fails, so as to improve the planning speed, shorten the search time, and improve the path safety. added effect

Active Publication Date: 2019-11-05
XIAN TECHNOLOGICAL UNIV
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Problems solved by technology

In the sampling stage, due to the probabilistic nature of the sampling strategy of the PRM algorithm, the sampling probability of each area in the map is the same. Therefore, when the number of sampling points is constant, the larger the free area, the more sampling points, but it is difficult in the narrow channel area of ​​the map. Ensure that there are enough multi-sampling

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  • Mobile robot path planning method for improving probabilistic roadmap method
  • Mobile robot path planning method for improving probabilistic roadmap method
  • Mobile robot path planning method for improving probabilistic roadmap method

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Embodiment Construction

[0030] Hereinafter, the present invention will be further described in detail through specific embodiments in conjunction with the drawings. Among them, similar elements in different embodiments use related similar element numbers. In the following embodiments, many detailed descriptions are used to make the present application better understood. However, those skilled in the art can easily realize that some of the features can be omitted under different circumstances, or can be replaced by other elements, materials, and methods.

[0031] The present invention is based on the random path map method (Probabilistic Roadmaps, PRM), which solves the problem of the actual path planning of the mobile robot; its specific technical scheme is: converting the actual environment map into a binary map, and using adaptive sampling and Combining Gaussian sampling to increase the number of sampling points in difficult areas (such as narrow channels), making it more adaptable to complex maps; i...

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Abstract

The invention relates to a mobile robot path planning method for improving a probabilistic roadmap method, and relates to the field of robot navigation. On the basis of the probabilistic roadmap method (PRM), an actual path planning function of a mobile robot is achieved. According to the specific technical scheme, an actual environment map is converted into a binary map, self-adaptive sampling and Gaussian sampling are combined in a sampling stage, the number of sampling points in difficult areas (such as narrow channels) is increased, so that the binary map has stronger adaptability to complex maps; in a query phase, by changing the distance connecting the sampling points, unreasonable paths are reduced, thereby effectively increasing the planning speed. The mobile robot path planning method has a simple procedure and a high calculation speed, effectively improves the shortcomings of an original algorithm, and greatly improves the work efficiency of self-mobile robot path planning.

Description

Technical field [0001] The invention belongs to the technical field of robots, and relates to a path planning method for a mobile robot, in particular to a path planning method for a mobile robot that improves a random path diagram method. Background technique [0002] The appearance of robots has greatly liberated people and freed them from boring, tiring and dangerous work. In 1959, the first industrial robot in human history was manufactured by Engelberg, the father of robots, which gave people the first experience of the role of robots. At present, various countries and scientific research institutions around the world attach great importance to robotics, because robots are an important indicator of a country's development and technological level. Since the 20th century, autonomous mobile robots have slowly entered our field of vision. Because of their high flexibility, autonomous mobile robots have begun to be applied in more and more fields. As the core part of mobile rob...

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Application Information

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IPC IPC(8): G01C21/20G06K9/00
CPCG01C21/206G06V20/10
Inventor 高嵩程谦曹凯陈超波马天力
Owner XIAN TECHNOLOGICAL UNIV
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