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Local path planning algorithm based on membrane computing and particle swarm optimization

A local path planning and particle swarm optimization technology, applied in the field of robot navigation, can solve the problems of insufficient speed randomness, low accuracy, and low real-time performance, and achieve enhanced reliability and real-time performance, and the optimal speed is accurate and reliable Effect

Inactive Publication Date: 2019-12-31
ANHUI UNIV OF SCI & TECH
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Problems solved by technology

[0005] In the speed sampling process of traditional local path planning, the randomness of sampling speed is not enough, the accuracy is not high, and the speed of path evaluation is slow, and the real-time performance is not high. It cannot guarantee that the local path planning of each robot is the safest and the shortest distance and the most efficient

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  • Local path planning algorithm based on membrane computing and particle swarm optimization
  • Local path planning algorithm based on membrane computing and particle swarm optimization

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Embodiment Construction

[0022] The present invention will be further explained below in conjunction with the accompanying drawings.

[0023] Such as figure 1 As shown, a local path planning algorithm based on membrane computing and particle swarm optimization includes the following steps:

[0024] (1) Initialization, the robot processes the received obstacle position information sent by the sensor and the robot’s own speed limit range, and generates the reachable speed range of the robot’s safe driving at the next moment (v mix ,v max ) and (-ω max ,ω max ). Such as figure 2 As shown, a two-dimensional coordinate system is established with v and ω as the abscissa and ordinate, so as to reach the speed range (v mix ,v max ) and (-ω max ,ω max ) is the coordinate constraint, and the point in the shaded area of ​​the coordinate system is the attainable speed of the robot for safe driving at the next moment;

[0025] (2) Sampling particles, select Q particles in the shadow area of ​​the two-di...

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Abstract

The present invention relates to a local path planning algorithm based on membrane computing and particle swarm optimization, comprising the following steps: initializing a limited speed of a robot toestablish a speed-position coordinate system, sampling a position and a speed of a particle, initializing a membrane structure and allocating particles, calculating a fitness function of the particles and searching particle local optimum in an elementary membrane and global optimum in a surface membrane, for updating the position and the speed of the particle and local optimum and global optimum,performing iteration constantly, determining whether a fitness value reaches a required fitness threshold delta, if yes, stopping iteration, and outputting coordinates of a global optimum particle, otherwise determining whether the number of iteration times reaches a maximum value N, if no, continuing to perform iteration, otherwise stopping iteration and outputting coordinates of the global optimum particle, that is, a driving speed of the robot in a next moment is obtained. The entire algorithm obviously enhances reliability and a real-time characteristic of local path planning, so that a barrier can be safely avoided with a shortest driving distance and time.

Description

technical field [0001] The invention relates to the field of robot navigation, specifically a local path planning algorithm based on membrane calculation and particle swarm optimization [0002] technical background [0003] Robot research is a hot field in recent years, among which navigation is the key technology of robot research, and safe and efficient path planning is also an important factor to ensure the success of robot navigation. [0004] Robot navigation is divided into positioning, mapping, and path planning. Path planning is further divided into global path planning and local path planning. However, in a dynamic environment, some local paths in the global path planning are often occupied by obstacles. At this time Robots need to use local path planning to avoid obstacles safely and efficiently. During local path planning, many different alternative speeds for the robot to travel at the next moment will be generated based on the current speed of the robot, the po...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0223G05D1/0214G05D1/0221G05D1/0276
Inventor 黄友锐兰世豪韩涛徐善永唐超礼许家昌
Owner ANHUI UNIV OF SCI & TECH
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