Mobile robot path planning method and system based on improved D*lite algorithm

Abstract

The invention provides a mobile robot path planning method and system based on an improved D*lite algorithm. The method comprises the specific steps: firstly, according to a grid map of an environmentwhere the robot is located, using a map segmentation algorithm to segment the map into a plurality of bounded units without obstacles inside; then, obtaining a unit connection graph according to thecommunication relationship among the plurality of units, and calculating to obtain an original distance cost value and an adjacent matrix among the units; then, according to the adjacency matrix, calculating is performed to obtain a unit sequence from a target unit to a starting unit by using a bigraph search algorithm; then, according to the unit sequence, core grids are set in the correspondingunits in sequence according to a core grid setting method, and a search chain table is formed in sequence; and finally, a D*lite path planning algorithm is guided to complete the path planning of themobile robot according to the search chain table. Experimental results prove that the method can shorten the path planning time while ensuring that the path length is close to the shortest.

Description

Technical field [0001] The invention belongs to the field of autonomous navigation of mobile robots, in particular to a mobile robot path planning method based on an improved D*lite algorithm. Background technique [0002] The path planning ability of a mobile robot determines how difficult the robot can do the job. In the constructed environment model, planning a collision-free optimal path from the initial point to the target point is the main content of path planning. In the construction of environmental models, the grid method is widely used. This method has the advantages of intuitiveness and simplicity, variable resolution, easy creation and storage, etc. It is suitable for the establishment of indoor environment path planning map models and has strong robustness. Graph search algorithm is a kind of algorithm in path planning, which is widely used in the path planning problem in raster map. The A* algorithm is a classic algorithm in graph search algorithms, which adds a h...

AI Technical Summary

Problems solved by technology

In the grid map, the path planning algorithm based on graph search will search for the optimal solution in the direction of the eight neighborhoods according to the search function when performing path search. This causes most of the previously performed expansion operations in this search direction to become invalid. For example, within a concave obstacle or the current grid and the target grid are in two rooms respectively, there will be a large number of invalid Grids are searched and computed, these ineffective extensions reduce planning efficiency

Images