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A robot path planning method, controller and system

A path planning, robotics technology, applied in control/regulation systems, vehicle position/route/height control, non-electric variable control, etc., can solve the problems of low convergence accuracy, poor adaptability, slow convergence speed, etc. Simple structure, strong practicability and effectiveness, and high operating efficiency

Active Publication Date: 2021-04-02
SHANDONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] At present, scholars at home and abroad have done a lot of research on the path planning algorithms of mobile robots, including traditional path planning algorithms, such as A* algorithm, artificial potential field method, etc.; and heuristic swarm intelligence algorithms, such as particle swarm optimization algorithm , genetic annealing algorithm, fish swarm algorithm, ant colony algorithm, etc. These heuristic swarm intelligence algorithms are simple, efficient, and can improve the quality of the target solution when optimizing the target. However, the inventors found that the traditional path Planning algorithms also have problems such as poor solution quality, low convergence accuracy, slow convergence speed, easy to fall into local optimum, and poor adaptability.

Method used

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  • A robot path planning method, controller and system
  • A robot path planning method, controller and system
  • A robot path planning method, controller and system

Examples

Experimental program
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Embodiment 1

[0068] figure 1 The flow chart of the robot path planning method provided in this embodiment.

[0069] Such as figure 1 As shown, the robot path planning method of this embodiment includes:

[0070] Step1: According to the task points to be traversed by the mobile robot for path planning, initialize the position of each individual in the particle swarm of the gravitational search operator, and obtain the path planning sequence of the robot. The preset initial speed is zero and the traversal termination condition; set in a D dimension In space, if there are N individuals, the location information of the i-th individual, that is, the path planning sequence of the mobile robot is coded as:

[0071]

[0072] in, is the position of the i-th individual on the d-dimensional space, that is, the d-th task point traversed in the path planning of the mobile robot; X i Indicates the position of individual i in the space formed by all task points.

[0073] Specifically, the task p...

Embodiment 2

[0111] Such as Figure 8 As shown, this embodiment provides a robot path planning controller, which includes:

[0112] (1) task point position information receiving module, which is used to receive the task point position information that the robot needs to traverse;

[0113] (2) The optimal path output module, which is used to execute the gravitational search operator, and output the optimal path for the robot to traverse all task points; wherein, in the process of executing the gravitational search operator, calculate any The gravitational correction term between two individuals, and the Gaussian function is used as the mapping function of the gravitational correction term to obtain the gravitational weighting factor, and the gravitational weighting factor is used to correct the resultant force that the individual receives in the particle swarm.

[0114] In specific implementation, such as Figure 9 As shown, the optimal path output module includes:

[0115] (2.1) an init...

Embodiment 3

[0129] This embodiment provides a robot system, which includes the robot path planning controller described in Embodiment 2.

[0130] Those skilled in the art should understand that the embodiments of the present disclosure may be provided as methods, systems, or computer program products. Accordingly, the present disclosure may take the form of a hardware embodiment, a software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present disclosure may take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, optical storage, etc.) having computer-usable program code embodied therein.

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Abstract

The invention provides a robot path planning method, a controller and a system. The method comprises a step of receiving the position information of task points needing to be traversed by a robot, anda step of executing a gravitation search operator and outputting an optimal path for the robot to traverse all task points, wherein a gravitational correction term between any two individuals in a gravitational search operator particle swarm is calculated in the process of executing a gravitational search operator, a Gaussian function is adopted as a mapping function of the gravitational correction term to obtain a gravitational weighting factor, and the gravitational weighting factor is utilized to correct resultant force borne by the individuals in the particle swarm. According to the invention, a Gaussian mapping function is introduced to adjust individuals with different gravitation sizes, so that an iterative rule is updated, the solution quality of the path planning method is improved, the global search range is expanded, and falling into a local optimal solution is avoided.

Description

technical field [0001] The disclosure belongs to the field of robot path planning, and in particular relates to a robot path planning method, controller and system. Background technique [0002] The statements in this section merely provide background information related to the present disclosure and do not necessarily constitute prior art. [0003] With the rapid development of mobile robot technology and the continuous improvement of social needs, mobile robots have been widely used in the fields of home services, military operations, and aerospace exploration due to their advantages such as high operability, small size, and simple structure. Robot path planning is a research hotspot in mobile robot-related technologies. It aims to construct an optimal trajectory traversing all location points by pre-analyzing the known external environment and ensuring the shortest path and minimum loss. The path planning problem of the mobile robot refers to storing the information of e...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/20G05D1/02
CPCG01C21/20G05D1/0219
Inventor 周风余刘美珍王玉刚
Owner SHANDONG UNIV