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

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 ...

AI Technical Summary

Problems solved by technology

It solves the problems of complex modeling, numerous paths, and low calculation efficiency of the traditional visual graph method, and has the advantages of strong self-adaptability and high calculation efficiency

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