Robot path planning method based on combination of visibility graph method and greedy algorithm

A greedy algorithm and path planning technology, applied to instruments, road network navigators, measuring devices, etc., can solve problems such as complex modeling, numerous paths, and low computational efficiency, so as to reduce complexity, avoid collisions, and improve computational efficiency Effect

Pending Publication Date: 2020-02-07
SHANGHAI MARITIME UNIVERSITY
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Problems solved by technology

It solves the problems of complex modeling, numerous paths, and low calculation efficiency of the traditio

Method used

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  • Robot path planning method based on combination of visibility graph method and greedy algorithm
  • Robot path planning method based on combination of visibility graph method and greedy algorithm
  • Robot path planning method based on combination of visibility graph method and greedy algorithm

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example 1

[0026] Example 1: A robot path planning based on the combination of visual graph and greedy algorithm. Firstly, the obstacles are regularized into polygons, and then the polygons are enveloped with an offset of 0.5l, and finally the outer contour of the polygons is obtained.

[0027] Such as Figure 1 to Figure 5 As shown, the path planning method includes the following steps:

[0028] S1 Determine the origin and establish a rectangular coordinate system

[0029] Determine the starting point s and the target point g, take the starting point s as the origin of the coordinates, and the connection line between the starting point s and the target point g is the x-axis to construct a Cartesian coordinate system, and record the vertex coordinates of each polygon.

[0030] S2 divides set S and set V

[0031] Connect the starting point s and the target point g to get the auxiliary line l 1 . Auxiliary line l 1 will pass through multiple obstacle polygons (such as figure 2 As sh...

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Abstract

The invention relates to a robot path planning method based on combination of a visibility graph method and a greedy algorithm. The robot path planning method based on combination of the visibility graph method and the greedy algorithm comprises the steps of: (1), scanning a map environment involved by robot motion by utilizing a computer, identifying obstacles in the map environment, performing enveloping, and screening vertexes through a visual condition; (2), connecting a start point to a target point, wherein a connecting line can pass through multiple obstacles, vertexes on the obstacles,which are passed through, are put into a set S, and, vertexes on the obstacles, which are not passed through, are put into another set V; and (3), according to a principle of minimum angle, continuously updating a next point and current, obtaining the vertex of each section, connecting the vertexes of the various obstacles, and finally, obtaining a global optimal solution. By means of the methodin the invention, the calculation amount is greatly reduced; unnecessary obstacles and vertexes are deleted; the modelling composition complexity is greatly reduced; the calculation efficiency is increased; and possible collision of a robot with an obstacle in a motion process can be avoided.

Description

technical field [0001] The invention relates to the field of robot path planning, and more particularly relates to a robot planning algorithm of a simplified visual graph method. Background technique [0002] The traditional robot path planning is to use the visual graph method to equate all obstacles into a polygon set projected in the plane. After modeling the above free space, the robot path planning problem is transformed into the shortest path problem of the network graph. Using Existing mathematical theory: In the case of a polygonal obstacle, the shortest path must be a broken line from the starting point to the end point through the vertices of each visible obstacle, so as to find the shortest path for the robot to avoid the obstacle. [0003] The visual principle of the visual graph method is defined as the combined connection of the starting point, the target point and the vertices of the obstacle. It is required that the connection between the starting point, the ...

Claims

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Application Information

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IPC IPC(8): G01C21/34
CPCG01C21/3469
Inventor 唐刚唐从强鲁鹏胡雄
Owner SHANGHAI MARITIME UNIVERSITY
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