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Robot path planning method and system based on skeleton extraction of passable area

A technology for extracting traffic areas and skeletons, which is applied to instruments, road network navigators, measuring devices, etc., can solve the problems of path planning failure, easy to block narrow passages, etc., and achieve the effect of improving accuracy and meeting safety needs

Active Publication Date: 2020-02-21
山东同其智能科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the obvious defect of this method is that it is easy to block the narrow passage, which leads to the failure of path planning, so the existing method cannot solve the safety problem in robot path planning well.

Method used

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  • Robot path planning method and system based on skeleton extraction of passable area
  • Robot path planning method and system based on skeleton extraction of passable area
  • Robot path planning method and system based on skeleton extraction of passable area

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Experimental program
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Effect test

Embodiment 1

[0051] Such as figure 1 As shown, Embodiment 1 of the present disclosure provides a robot path planning method based on skeleton extraction of a passable area, and the steps are as follows:

[0052] Construct the environmental grid map, and then project the robot's initial position, obstacles and target positions into the grid map according to the environmental information;

[0053] Determine the passable area of ​​the robot in the grid map, and then use the Zhang-Suen algorithm to extract the skeleton of the passable area;

[0054] Locate the starting point and ending point of the path on the grid map, and design its eight-neighborhood grid state, so that the grid where the starting point and ending point of the path are located can be reserved as a skeleton point during the refinement of the passable area;

[0055] Use the breadth-first search algorithm to find the shortest connected skeleton connecting the starting point and the ending point of the path, and obtain the sho...

Embodiment 2

[0081] Embodiment 2 of the present disclosure provides a robot path planning system based on skeleton extraction of a passable area, including:

[0082] The grid map construction module is configured to: construct an environmental grid map, and then project the robot's initial position, obstacles, and target positions into the grid map according to the environmental information;

[0083] The skeleton extraction module is configured to: determine the passable area of ​​the robot in the grid map, and then use the Zhang-Suen algorithm to extract the skeleton of the passable area;

[0084] The skeleton optimization module is configured to: locate the starting point and ending point of the path on the grid map, and design the eight-neighborhood grid state, so that the grid where the starting point and ending point of the path are located can be used as the skeleton point in the refinement process of the passable area. reserve;

[0085] The shortest path acquisition module is confi...

Embodiment 3

[0090] Embodiment 3 of the present disclosure provides a medium on which a program is stored. When the program is executed by a processor, the steps in the robot path planning method based on skeleton extraction of a passable area as described in Embodiment 1 of the present disclosure are implemented.

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Abstract

The invention provides a robot path planning method and system based on skeleton extraction of a passable area. The method comprises the following steps of constructing an environment grid map, and projecting an initial position of a robot, an obstacle and a target position into the grid map; determining the passable area of the robot in the grid map, and then performing skeleton extraction on thepassable area by using a Zhang-Suen algorithm; positioning a path start point and an end point to the grid map, designing an eight-neighborhood grid state of the grid map, so that a grid point wherethe path start point and the end point are located can be reserved as a skeleton point in a passable area refinement process; and using a breadth-first search algorithm to find a shortest connected skeleton connecting the path start point and the end point to obtain a shortest path that the robot can pass. A path trajectory obtained by the method is approximately in a middle position of the passable area, the safety requirement of the robot path planning can be better met, a skeleton extraction algorithm is improved, and a skeleton extraction result retains path start point and end point information.

Description

technical field [0001] The present disclosure relates to the technical field of robot path planning, in particular to a robot path planning method and system based on skeleton extraction of a passable area. Background technique [0002] The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art. [0003] Mobile robot path planning technology means that the robot plans a safe running route by itself according to the sensory information of its own sensor on the environment, and at the same time efficiently completes the task. According to the principle of map construction, path planning is usually divided into road sign method and grid method. The landmark method is to construct a feasible path diagram of the robot composed of landmark points and connecting edges, such as the visual diagram method, the tangent diagram method, the Voronoi diagram method and the probability diagram expansio...

Claims

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Application Information

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IPC IPC(8): G01C21/34
CPCG01C21/343G01C21/3446
Inventor 张慧马凤英刘海英赵永国张友盼
Owner 山东同其智能科技有限公司
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