Foot-type robot path planning method and device based on tangent line intersection method

Abstract

The invention discloses a foot-type robot path planning method based on a tangent line intersection method. The method comprises the steps of firstly, carrying out environment modeling, describing environment information by constructing an obstacle expression model, then constructing visual tangent lines on the model to form an intersection point network, and finally, searching a safe passing pathwith the minimum cost from the intersection point network by using an evaluation function. According to the invention, tangent lines between a starting point and a target point and each obstacle areain the environment model are constructed by using a tangent line intersection method after environment modeling, then the tangent lines and the intersection points between the tangent lines are takenas key elements to construct a path search space, and an ellipse is used for representing the obstacle area to provide convenience for subsequent path planning. The method is high in path planning efficiency, and can meet the requirement of acquiring the path of the robot in the occasion of needing to move at a high speed. In addition, the tangent line intersection method has obvious advantages,and the obtained path is good in length and safety.

Description

technical field [0001] The invention belongs to the field of robots, and relates to a path planning method and device for a legged robot based on a tangent intersection method. Background technique [0002] As one of the most basic and main research topics in the field of legged robots, the essential requirement of path planning is to plan one or more traversable paths connecting two points in a certain environment, and then select one or more paths from them according to certain criteria. A path that best fits the robot motion is taken as the final path. At present, path evaluation criteria mainly include path length, path search time, and safety. These standards represent the characteristics of various aspects of the path. Sometimes only one of the criteria is considered in the path planning process, but it is often combined with each other. Assess the strengths and weaknesses of the path [1] . [0003] Existing path planning methods can be divided into the following ca...

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Problems solved by technology

[0011] The purpose of the present invention is to provide a legged robot path planning based on the tangent intersection method in view of the low efficiency of path planning in the above-mentioned prior art, which cannot meet the problem that the robot needs to obtain the path when it needs to move at a faster speed. The method and device have high efficiency of path planning, and the path obtained by the robot in the case of fast movement is accurate

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