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Method of Adding Path Obstacles for Multi-Robot Path Planning

A path planning, multi-robot technology, applied in the direction of instruments, road network navigators, navigation, etc., can solve problems such as poor effect, short path, low efficiency, etc., to achieve the effect of protecting passable areas

Active Publication Date: 2021-12-07
ZHEJIANG UNIV OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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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

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Embodiment Construction

[0029] The present invention will be described in further detail below in conjunction with the examples, but the protection scope of the present invention is not limited thereto.

[0030] The invention relates to a method for adding path obstacles for multi-robot path planning, and the method includes the following steps.

[0031] Step 1: Obtain the path of the previous path planning, widen the obstacle area O, and obtain the maximum value O of the projection of O on the x-axis max.x , minimum value O min.x , get the maximum value O projected by O on the y-axis max.y , minimum value O min.y .

[0032] If there is no previous path, then O max.x is the width of the active area of ​​other robots, O min.x is 0, O max.y is the height of the active area of ​​other robots, O min.y is 0.

[0033] Step 2: Perform a path planning to obtain the current planned path road.

[0034] Step 3: Get the maximum road projected by the path road on the x-axis max.x , minimum road min.x ,...

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Abstract

The invention relates to a method for adding path obstacles to multi-robot path planning. The path of the previous path planning is expanded into an obstacle area O, and the path planning is obtained the road ,when the road It can pass when there is no intersection with O, otherwise it will the road Arrange the projection values ​​of O and O on the x-axis from small to large and take the judgment interval. the road The values ​​of the abscissa values ​​of all points in the previous path and the previous path are stored in the collection respectively. B and C middle, C Connect the points at both ends to get a line segment D , extended to Oi, to set B Judging the position of the point in and Oi, if there is an intersection, the path will be eliminated the road . The present invention widens the previously planned path to an approximate wide curve composed of several rectangles as an obstacle O, and there must be no intersection with O during the next robot path planning. The invention can effectively protect the passable area, provide a more favorable feasible area for the path planning of the follow-up robot, and ensure the advantages of the follow-up robot in path planning.

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 ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/34
CPCG01C21/3415G01C21/343
Inventor 简琤峰卢涛
Owner ZHEJIANG UNIV OF TECH
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