Foot-type robot path planning method

A path planning and robotics technology, applied in the field of robotics, can solve the problems of repeated local path planning paths and the inability of global path planning methods to deal with dynamic environments, and achieve the effect of ensuring global optimality, reducing search pressure, and good environmental adaptability.

Inactive Publication Date: 2020-05-19
CHANGAN UNIV
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AI Technical Summary

Problems solved by technology

[0003] The invention provides a path planning method for a legged robot, which not only solves the problem that the global path planning method cannot cope with the dynamic environment, but also solves the problem that the local path planning is easy to fall into the local extremum due to the lack of global information, resulting in repeated paths. The length and smoothness of the path are good

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  • Foot-type robot path planning method
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Embodiment Construction

[0062] In order to make the purpose and technical solution of the present invention clearer and easier to understand. The following describes the present invention in further detail with reference to the accompanying drawings and embodiments. The specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0063] 1. The evaluation function of the A* algorithm is:

[0064] f(n)=g(n)+h(n) (1)

[0065] In formula (1), f(n) is the evaluation function value of the current node n, which is composed of g(n) and h(n). Among them, g(n) is the robot from the starting point to the current point n The actual cost that has been experienced, h(n) is the estimated cost of the robot from the current node n to the target point. The biggest feature of the A* algorithm is the addition of the heuristic function h(n), which effectively narrows the search range and reduces the calculation amount of the algorithm. This algorithm uses Euclidean ...

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Abstract

The invention discloses a path planning method for a foot-type robot. An improved A* algorithm and a self-adaptive DWA algorithm are utilized to plan a reasonable path of robot motion, one characteristic of the improved A * algorithm is as follows, as long as a passable path from a starting point to a target point exists in the environment, the method can always be successfully searched. Comparedwith other local path algorithms, the method has very outstanding advantages, the thought of the fusion algorithm adopted by the method is to perform global path planning by using the characteristic,and then perform real-time local planning in combination with the adaptive DWA, so a final path is close to global optimum and has better dynamic adaptive capacity at the same time.

Description

Technical field [0001] The invention belongs to the technical field of robots, and specifically relates to a path planning method for a footed robot. Background technique [0002] Compared with other types of mobile robots such as wheeled and tracked robots, the biggest advantage of footed robots lies in their good adaptability to multiple types of environments. Unlike wheeled and crawler types, they are in contact with the ground through discrete foot points. The walking mode allows the footed robot to easily pass through the more rugged and complex environment, but also to avoid damage to the environment. Since the footed robot needs to complete related tasks in the field environment, and the field environment is often very complex and unpredictable dynamic environment, the robot must have the ability to plan a passable path in such an environment to complete the task. There are many classifications of path planning methods, which can be roughly summarized into two categories:...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/30G01C21/34G06Q10/04
CPCG01C21/30G01C21/343G01C21/3446G06Q10/047
Inventor 惠记庄朱雅光徐子健史合明瑞浩罗丹
Owner CHANGAN UNIV
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