Route planning method and mobile robot

Abstract

The invention puts forward a route planning method and a mobile robot. The route planning method comprises the following steps that: establishing a grid map of an environment to be tested; labeling the position of an obstacle in the grid map; according to the current position of the mobile robot and a target point position, utilizing an A* algorithm to search to obtain route nodes; obtaining an inflection point in the route nodes; carrying out a point spreading operation on the inflection point; through the point spreading operation, obtaining a plurality of sample points, and screening samplepoints which conform to the requirements; judging whether the mobile robot can directly achieve the target point position from the sample points or not; and obtaining an optimal route. By use of themethod, the point spreading operation is combined with the A* algorithm to search the route, search for irrelevant areas on the grid map is reduced, obstacles in the environment can be avoided, the collision of the mobile robot is reduced, route planning time is effectively shortened, route planning efficiency is improved, in addition, the walking safety of the mobile robot is improved, and the experience of a user is improved.

Description

technical field [0001] The invention relates to the field of robots, in particular to a path planning method and a mobile robot. Background technique [0002] Mobile robots are widely used in many fields such as industrial production, life services, and environmental detection. Among them, path planning is the key research direction of many technicians in the field. In the prior art, when a certain area in the home map environment is not cleaned , need to arrive at the designated place for re-scanning or the robot needs to arrive at the designated place for recharging when the battery is low, so path planning is required. However, when the map is large, the robot will perform very frequent sorting operations on the increasing array or linked list when searching for the path, and search many irrelevant areas, resulting in an increase in the amount of calculation. It will take longer. In addition, when there are many obstacles in the map, the path planning will make the dist...

AI Technical Summary

Problems solved by technology

However, when the map is large, the robot will perform very frequent sorting operations on the increasing array or linked list when searching for the path, and search many irrelevant areas, resulting in an increase in the amount of calculation. take longer

In addition, when there are many obstacles in the map, the path planning will make the distance between the robot and the obstacles too small, making the robot less safe when walking, and may even be trapped by traps. Therefore, the robot needs to be improved

Images