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Improved dynamic RRT* mobile robot motion planning method

A technology for robot motion and mobile robot, which is applied in the directions of instruments, non-electric variable control, two-dimensional position/channel control, etc., to achieve the effect of reduced algorithm efficiency and fast convergence speed

Active Publication Date: 2020-01-17
FUZHOU UNIV
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Problems solved by technology

[0010] The purpose of the present invention is to provide an improved dynamic RRT* mobile robot motion planning method, which overcomes the shortcomings of the existing motion planning algorithm, the algorithm convergence speed is faster than RRT*, and the path quality is better than RRT, even in narrow passages or It still has an advantage in complex environments such as mazes

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  • Improved dynamic RRT* mobile robot motion planning method
  • Improved dynamic RRT* mobile robot motion planning method
  • Improved dynamic RRT* mobile robot motion planning method

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Embodiment Construction

[0056] In order to make the above-mentioned features and advantages of the present invention more comprehensible, the following specific embodiments are described in detail with reference to the accompanying drawings, but the present invention is not limited thereto.

[0057] refer to Figure 1 to Figure 11 .

[0058] The present invention proposes a mobile robot motion planning method of an improved dynamic RRT*, comprising the following steps:

[0059] Step S1. Obtain the current surrounding environment information of the mobile robot: Obtain the environmental information within the radius of the mobile robot through the laser radar or depth camera. The unscanned position is in an unknown state, and the scanned position without obstacles is in a free state. The location with obstacles presents an occupied state; during the process of moving the robot according to the planned path, it continuously obtains the environmental information around the new location, and combines it...

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Abstract

The invention relates to an improved dynamic RRT* mobile robot motion planning method. According to the method, all collision detection in an original RRT* algorithm is eliminated, and a cost functionvalue is controlled by adding a collision risk assessment component in a cost function. When a sampling point or edge collides with an obstacle, the component is remarkably increased, the cost function value is promoted to be synchronously and remarkably increased, the possibility that the point and the edge colliding with each other continue to expand is restrained, and therefore, the algorithmhas the obstacle avoidance capacity. Because the method has no collision detection, compared with an RRT* algorithm, the convergence speed is higher, the efficiency is higher, and the advantages are more prominent in the more complex environment in the aspect of the movement planning problem of the mobile robot.

Description

technical field [0001] The invention relates to the field of mobile robot motion planning, in particular to an improved dynamic RRT* mobile robot motion planning method. Background technique [0002] With the continuous improvement of human living standards and the rapid development of industrial automation and intelligence, robots have become more and more widely used and gradually become an indispensable part of human production and life. Whether it is an industrial robot, a service robot or a medical robot, it is necessary to have the ability to perform collision-free motion planning in a complex and changing working environment. [0003] After long-term development of robot motion planning, many different planning methods have been formed, such as methods based on artificial potential field, methods based on mathematical models, methods based on graph search, methods based on nodes and methods based on sampling. In order to increase the flexibility and maneuverability o...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0221G05D1/0223G05D1/024G05D1/0253G05D1/0257G05D1/0276G05D1/028
Inventor 陈彦杰林依凡何炳蔚张立伟林立雄
Owner FUZHOU UNIV
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