Method for additionally arranging path obstacles for multi-robot path planning

Abstract

The invention relates to a method for additionally arranging path obstacles for multi-robot path planning. The method comprises the following steps of broadening a path planned by a previous path to an obstacle area O to obtain a route; when no intersection point exists between a head and O, indicating that the head can pass through; otherwise, arranging the projection values of the head and the Oon the x axis from small to large, and taking a judgment interval; storing the points of the values of the abscissas of all the points in the row and the previous path in the interval into a set B and a set C respectively, connecting the points at the two ends in the set C to obtain a line segment D, expanding to obtain Oi, judging according to the positions of the points in the set B and the Oi,and eliminating the path row if the points in the set B intersect with the Oi. The path planned last time is widened into an approximate wide curve composed of a plurality of rectangles, the approximate wide curve is an obstacle O, and no intersection point exists between the next robot and O during path planning. According to the method, the passable area can be effectively protected, a more favorable feasible area is provided for path planning of the subsequent robot, and the advantages of the subsequent robot in path planning are guaranteed.

Description

technical field [0001] The invention relates to the technical field of non-electric variable control or regulation systems, in particular to a method for adding path obstacles for multi-robot path planning. Background technique [0002] The purpose of path planning is to plan a collision-free path from the starting point to the goal point in the space of the given starting point and goal point. [0003] In the field of multi-robot path planning, there are two main types of existing methods for avoiding robot collisions, one relies on the robot’s own hardware recognition, and the other is a central processing method, including classic path planning algorithms based on graph theory, such as DFS , BFS, Dijkstra, Astra, etc., while intelligent path planning algorithms include ant colony algorithm, genetic algorithm, fuzzy algorithm, etc. [0004] In the existing technology, the central processing method mainly adopts adding circular obstacles or adding rectangular obstacles to ...

AI Technical Summary

Problems solved by technology

[0004] In the existing technology, the central processing method mainly adopts adding circular obstacles or adding rectangular obstacles to the nodes, but these methods cause waste of space to varying degrees, and the efficiency of solving problems is low and the effect is not good. , the most important thing is that it is impossible to achieve the shortest path

Images