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Mobile robot path planning method based on improved artificial potential field algorithm

A mobile robot and path planning technology, applied in the direction of instruments, navigation calculation tools, non-electric variable control, etc., can solve the problems of path planning operation failure, mobile robot influence, etc.

Active Publication Date: 2020-05-29
CHONGQING UNIV OF POSTS & TELECOMM
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The emergence of these two problems will seriously affect the entire path planning process of the mobile robot, and eventually lead to the failure of the path planning operation.

Method used

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  • Mobile robot path planning method based on improved artificial potential field algorithm
  • Mobile robot path planning method based on improved artificial potential field algorithm
  • Mobile robot path planning method based on improved artificial potential field algorithm

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Embodiment Construction

[0018] The technical solutions in the embodiments of the present invention will be described clearly and in detail below with reference to the drawings in the embodiments of the present invention. The described embodiments are only some of the embodiments of the invention.

[0019] see figure 1 , the main steps of the present invention are:

[0020] S1, initialize relevant parameters, set the starting point and target point of path planning;

[0021] S2. Construct a gravitational potential field function according to the distance from the mobile robot to the target point;

[0022] S3, constructing a repulsion potential field function according to the distance from the mobile robot to the target point and the distance to the obstacle;

[0023] S4, calculate the negative gradient of the gravitational potential field function based on the current position of the mobile robot to obtain the current attractive force of the mobile robot;

[0024] S5, based on the current position...

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Abstract

The invention provides a mobile robot path planning method based on an improved artificial potential field algorithm. The method comprises the specific steps: firstly, constructing a gravitational potential field function according to the distance from a mobile robot to a target point, and constructing a repulsion potential field function according to the distance from the mobile robot to the target point and the distance from the mobile robot to an obstacle; then respectively solving negative gradients of the gravitation potential field function and the repulsion potential field function to obtain attraction force and repulsion force borne by the mobile robot; and finally, the mobile robot avoiding obstacles and advances towards the target point under the combined action of attraction force and repulsive force, and generating forced disturbance force halfway to enable the robot to escape from the influence range of the local minimum point. Experimental results in an indoor multi-obstacle environment show that compared with other methods, the method has the advantages that the success rate of path planning is high, and actual application requirements are met.

Description

technical field [0001] The invention belongs to the field of mobile robot autonomous navigation, in particular to a mobile robot path planning method based on an improved artificial potential field algorithm. Background technique [0002] Path planning is an important step in the autonomous navigation process of a mobile robot, which means that the mobile robot plans a safe and collision-free path from the starting point to the target point according to the actual situation. The path planning of mobile robots in the working environment needs to meet the following three criteria: (1) the planned path can connect the starting point and the target point; (2) the planned path must effectively avoid obstacles in the environment; (3) ) The planned path meets the requirements in terms of length and smoothness. [0003] The standard artificial potential field method is widely used in the field of path planning for mobile robots because of its simple principle, easy implementation, ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20G05D1/02
CPCG01C21/206G05D1/0088G05D1/0212
Inventor 罗元杨成杰张毅
Owner CHONGQING UNIV OF POSTS & TELECOMM
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