Firefighting movable robot path planning method and system based on improved artificial potential field method

Abstract

The invention discloses a firefighting movable robot path planning method and system based on an improved artificial potential field method. The method comprises the steps that a fire point is acquired; the coordinate point of a firefighting movable robot near the fire point is acquired; a target point is set, and a corresponding relation between the target point and the firefighting movable robotis set up; environmental information is read, and resultant force corresponding to the firefighting movable robot is calculated through the improved artificial potential field method; whether the firefighting movable robot path gets into a local minimum point or not is judged, and if yes, the firefighting movable robot path gets away from the local minimum point through a simulated annealing algorithm, and then the resultant force is calculated again; if not, the calculated resultant force is sent to the corresponding firefighting movable robot, and whether the moved firefighting movable robot reaches the corresponding target point or not is judged; if the firefighting movable robot reaches the target point, fire extinguishing work is carried out; and if not, the resultant force is calculated again. According to the firefighting movable robot path planning method and system, the problem that during artificial potential field method path planning, the target cannot be reached, the firefighting movable robot gets into the local minimum point is solved, and meanwhile the firefighting movable robot avoids an obstacle and reaches the target point faster.

Description

technical field [0001] The application belongs to the technical field of path planning for mobile robots, and in particular relates to a path planning method and system for a fire-fighting mobile robot based on an improved artificial potential field method. Background technique [0002] With the rapid development of robot technology and the vigorous promotion of the "smart firefighting" policy, mobile firefighting robots are playing an increasingly important role in fire rescue. At present, the common fire-fighting mobile robots on the market are all based on manual operation to perform fire-fighting and disaster relief work, and the degree of autonomy is low, which limits the promotion of fire-fighting mobile robots. Therefore, a new generation of intelligent fire-fighting mobile robots has become a new development trend. Intelligent fire-fighting mobile robots can realize functions such as autonomous patrol, fire early warning, independent identification of fire and fire ...

AI Technical Summary

Problems solved by technology

[0004] The purpose of this application is a fire-fighting mobile robot path planning method and system based on the improved artificial potential field method, which solves the problems of unreachable targets and local minimum points in path planning of the artificial potential field method, and at the same time It can make the fire mobile robot avoid obstacles and reach the target point faster

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