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Slime mold rrt navigation method and system based on two-dimensional static path planning

A technology of static path planning and navigation method, which is applied in the field of slime mold RRT navigation method and system, which can solve the problems of difficult and narrow passage environment, find the path, etc., and achieve the effect of improving performance

Active Publication Date: 2022-05-17
SHANDONG ACAD OF SCI INST OF AUTOMATION
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0008] Another weakness of RRT is the difficulty of finding a path in environments with narrow passages

Method used

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  • Slime mold rrt navigation method and system based on two-dimensional static path planning
  • Slime mold rrt navigation method and system based on two-dimensional static path planning
  • Slime mold rrt navigation method and system based on two-dimensional static path planning

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Experimental program
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Effect test

Embodiment 1

[0037] Slime molds are a group of mold-like organisms that form spores with cell walls, cells without cell walls, and, like amoebas, can change shape at will. Slime molds are large single-celled organisms consisting of numerous nuclei and a fluid network of protoplasm. The worm-like cytoplasm can change shape and flow freely, and information from the external environment can be transmitted into the cytoplasm, allowing the worm to take advantage and avoid damage. Slime molds can also move through protoplasm. Thus, slime molds can gather in places of comfort (i.e. nutrients, warmth, and moisture), escape harsh conditions (i.e. cold and dryness) or seek (move toward nutrients).

[0038] Slime molds have been the subject of path planning research due to their biological relative simplicity and behavioral complexity. Slime molds feed on, phagocytose, and consume microbes that grow on nutrients. When the slime mold moves away from nutrients, it expands its area as much as possibl...

Embodiment 2

[0051] In one or more embodiments, a slime mold RRT navigation system based on two-dimensional static path planning is disclosed, including:

[0052] A device for making a circle with the point where the mobile robot is located as the origin and with the step length as the radius; taking the circle as the exploration range, and the points on the circle as the set of nodes to be selected;

[0053] When there is no obstacle in the exploration range, the intersection point of the straight line connecting the starting point and the ending point and the circle is used as a new node;

[0054] means for making a circle with the node as the origin and the step size as the radius;

[0055] A device for reselecting a new node so that the resulting path is the shortest.

[0056] As a further improvement plan, it also includes:

[0057] When there is an obstacle in the exploration range, if the obstacle does not block the connection line between the target point and the starting point, ...

Embodiment 3

[0063] In one or more embodiments, a terminal device is disclosed, including a server, the server includes a memory, a processor, and a computer program stored on the memory and operable on the processor, and the processor executes the The program realizes the slime mold RRT navigation method based on two-dimensional static path planning in the first embodiment. For the sake of brevity, details are not repeated here.

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Abstract

The invention discloses a slime mold RRT navigation method and system based on two-dimensional static path planning. Points are the set of nodes to be selected; when there are no obstacles in the exploration range, the intersection of the line connecting the starting point and the ending point and the circle is used as a new node; the node is used as the origin, and the circle is made with the step length as the radius; according to The above method reselects new nodes to make the obtained path the shortest. The method of the invention can improve the problem that the path of the RRT algorithm is not smooth and the path is not the shortest path, so as to improve the performance of the RRT algorithm and obtain a better and shorter path.

Description

technical field [0001] The invention relates to the technical field of path planning, in particular to a slime mold RRT navigation method and system based on two-dimensional static path planning. Background technique [0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art. [0003] Rapidly-exploring Random Tree, RRT for short, also known as the rapid search random tree algorithm, the RRT algorithm is a classic and commonly used path planning algorithm, which is suitable for two-dimensional and three-dimensional environments. The idea of ​​RRT is to rapidly expand a group of tree-like paths to explore (fill) most of the space, waiting to find a feasible path. [0004] RRT is one of the classic algorithms for path planning. RRT is a sampling-based online path planning algorithm. It allows fast planning in semi-structured spaces by performing random searches in the navigational...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/34
CPCG01C21/3446
Inventor 冯超李研强张子辉尤越王红红李庆华
Owner SHANDONG ACAD OF SCI INST OF AUTOMATION
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