Nursing robot path planning method based on CNN and improved A-Star algorithm

A path planning and robotics technology, applied in the field of robotics to increase efficiency, run smoothly, and ease congestion

Active Publication Date: 2020-06-30
JINLING INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The optimal path found by the A-Star algorithm is only the shortest path in theory. In reality, the walking of the robot is also affected by the crowd density and the number of turns. This problem cannot be solved by the traditional A-Star algorithm.

Method used

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  • Nursing robot path planning method based on CNN and improved A-Star algorithm
  • Nursing robot path planning method based on CNN and improved A-Star algorithm
  • Nursing robot path planning method based on CNN and improved A-Star algorithm

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Embodiment Construction

[0045] Below in conjunction with accompanying drawing and specific embodiment the present invention is described in further detail:

[0046] The present invention proposes a nursing robot path planning method based on CNN and improved A-Star algorithm, which preferentially selects low-density and straight-line paths, avoids congested areas, reduces the number of turns, and ensures the smooth operation of the robot and improves efficiency. like figure 1 is the system flow chart.

[0047] First, the medical staff input the destination to the nursing robot, and the nursing robot sends the starting point and end point of the destination to the hospital server; the server reads the video image information of each path from the customer to the destination; the server preprocesses the image and extracts the features of the image The information is used as the input of training data, and CNN is used to calculate the crowd density.

[0048] When the CNN network is trained, the head o...

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Abstract

The invention relates to a nursing robot path planning method based on a CNN and an improved A-Star algorithm. The medical staff firstly inputs a destination to be reached; then the nursing robot sends starting point and ending point information to a hospital server, a hospital collects image information of each area of the hospital, and then the CNN is used for identifying the crowd density of apath image; the pedestrian speed of each area is calculated, and the quantized speed is used to improve an evaluation function of A-Star; and finally, linear priority constraints are added to the A-Star, and an optimal path is searched by using the improved A-Star function. The influences of crowd density and robot steering on the speed of the robot are fused, a cost estimation function based on distance is optimized into a function based on time, and an open area is selected to quickly reach a terminal point. And the risk that the head and the feet of the patient collide with obstacles is reduced by increasing the distance between the patient and the head. Steering times are reduced, and stable operation and efficiency improvement of the robot are guaranteed to the maximum extent.

Description

technical field [0001] The invention relates to the field of robots, and particularly designs a nursing robot path planning method based on CNN and an improved A-Star algorithm. Background technique [0002] Due to the characteristics of autonomous operation and flexible movement, mobile robots have broad prospects for development and utilization in important fields such as national defense technology, life services, production and construction. It will seriously affect the quality of its work. How to quickly plan an effective safety path is of great research significance and practical application value. [0003] When nursing robots usually work in an indoor environment, they need to sense obstacles of different heights in order to perform nursing work safely and normally. On the basis of a clear perception of the indoor environment, another difficult problem that needs to be solved is path planning. The path planning of the nursing robot indoors should be as centered as p...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20G05D1/02
CPCG01C21/206G05D1/0088G05D1/0217G05D1/0231Y02T10/40
Inventor 王志凌郭玉婷张杨
Owner JINLING INST OF TECH
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