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Robot autonomous path planning method

A path planning and robotics technology, applied in the direction of instruments, motor vehicles, two-dimensional position/channel control, etc., can solve the problems of reducing the operating efficiency of robots

Inactive Publication Date: 2020-06-26
云南和富科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

If obstacles always exist, the robot will always wait in place, which greatly reduces the operating efficiency of the robot

Method used

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  • Robot autonomous path planning method

Examples

Experimental program
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Effect test

Embodiment

[0079] The robot performs autonomous path planning logic such as figure 1 The process described in the implementation steps is completed; the path planning method for the robot to autonomously circumvent obstacles in the present invention is suitable for robot control in various driving modes, such as: differential structure mobile robot, rudder wheel structure mobile robot, microphone Ram wheel structure mobile robot, crawler structure mobile robot, axle structure mobile robot.

[0080] Step 101, the robot runs according to the predetermined walking path under the scheduling system, and obtains the coordinate position of the robot in the map in real time; that is, the robot obtains the sequence of future walking paths from the scheduling system, and performs path matching according to the map system stored by the robot.

[0081] Step 102, during normal walking, the robot calculates the absolute coordinate position and heading angle of the robot in the map system through the g...

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Abstract

The invention particularly relates to a robot autonomous path planning method. In the normal walking process of the robot, peripheral contour information is fed back through the laser distance measuring sensor; whether an obstacle exists or not is judged according to a distance measurement signal fed back by the laser distance measurement sensor; obstacle signals exist in front of walking of the robot, obstacles are segmented, obstacle feature points are obtained, then whether inclusion relations exist or not is judged by judging whether the obstacle feature points are placed in an envelope line track, therefore, autonomous path planning is conducted, and the robot running efficiency in a complex running environment is improved.

Description

technical field [0001] The invention belongs to the technical field of robot control technology, and in particular relates to a method for autonomous path planning of a robot. Background technique [0002] With the continuous development of robot control technology, intelligent handling robots are gradually and widely used in industrial scenarios such as warehousing logistics, production handling, and e-commerce sorting. In the application process of intelligent handling robots, the safety of robots has attracted everyone's attention. The active safety and obstacle avoidance sensing devices of robots are widely used in robot design, such as: ultrasonic distance sensors, infrared distance sensors, laser ranging sensor, point cloud obstacle sensor, etc. However, most of the robots that use distance measuring sensors only realize that the robot actively stops and waits, and then continues to complete the movement according to the predetermined path after the obstacle is remove...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/024G05D1/0257G05D1/0221G05D1/0276
Inventor 陶珊珊
Owner 云南和富科技有限公司
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