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Mobile robot path planning method integrating membrane calculation and RRT

A mobile robot and path planning technology, applied in navigation computing tools, instruments, non-electric variable control, etc., can solve the problems of poor planning path rationality, purposeless search, single expansion node, etc., to avoid unreasonable path planning and Poor real-time performance, reasonable path, and increased search range

Active Publication Date: 2020-08-07
ANHUI UNIV OF SCI & TECH
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AI Technical Summary

Problems solved by technology

However, the traditional RRT algorithm has a single expansion node, the node expansion rules are too random, and the search is not purposeful. In a complex environment, the algorithm has a large amount of calculation, and the rationality of the planned path is poor.

Method used

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  • Mobile robot path planning method integrating membrane calculation and RRT
  • Mobile robot path planning method integrating membrane calculation and RRT

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Embodiment Construction

[0029] The present invention will be further explained below in conjunction with the accompanying drawings.

[0030] like figure 1 As shown, a mobile robot path planning method that fuses membrane computing and RRT includes the following steps:

[0031] Step 1: Initialize the starting waypoint X init , target waypoint X goal , the robot expands the step size ρ and the environment information;

[0032] Step 2: Initialize the membrane structure in membrane calculation as [[] 1 ,[] 2 ,[] 3 ,[] 4 ] 0 ;

[0033] Step 3: Take the starting point X init As the parent node, randomly generate four sampling points, and start from X init Take ρ as the expansion step to expand to each sampling point to form four new effective waypoints X new ;

[0034] Step 4: Combine the four valid waypoints ( Indicates the first effective waypoint in the i-th basic membrane) is evenly distributed to four basic membranes, and the be regarded as the first waypoint in the corresponding ele...

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Abstract

The invention relates to a mobile robot path planning method integrating membrane calculation and RRT. The method comprises the steps of introducing membrane calculation on the basis of an original RRT algorithm to optimize the original RRT algorithm, setting a membrane calculation structure, expanding a random tree independently in each basic membrane, and increasing the number of sampling pointsduring random tree expansion in each basic membrane; and setting an inter-membrane communication rule to update a corresponding relationship between sampling points output by each basic membrane andfather nodes of the basic membrane, and returning an updated result to the corresponding basic membrane to continue to expand the random tree; and continuously iteratively expanding the random tree inthe whole membrane system until the random tree in one basic membrane reaches an end point, and stopping expanding. According to the method, the number of sampling points is increased and the inter-membrane communication rule is set during random tree extension in each basic membrane, so that the random tree extension in the membrane has higher directivity, and the real-time performance and reasonability of the path planning of the mobile robot are further improved.

Description

technical field [0001] The invention relates to the field of path planning for mobile robots, in particular to a path planning method for mobile robots that combines membrane calculation and RRT. Background technique [0002] With the continuous improvement of the intelligence of social production and life, the research and development and application of intelligent mobile robots have gradually been valued by people. Autonomous navigation technology is the core of mobile robot technology research. Good path planning is the key to realizing autonomous navigation of mobile robots. Intelligent and efficient path planning algorithms can enable mobile robots to navigate autonomously more accurately and reasonably. [0003] The main task of path planning is to plan a reasonable, collision-free path from the start point to the end point based on known environmental data. With the increase of mobile robot application scenarios, the environment becomes more and more complex, mobile ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02G01C21/20
CPCG05D1/0223G05D1/0221G05D1/0276G01C21/20
Inventor 兰世豪黄友锐韩涛徐善永唐超礼
Owner ANHUI UNIV OF SCI & TECH
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