A fire-fighting mobile robot path planning method and system based on improved artificial potential field method

A mobile robot, artificial potential field method technology, applied in control/regulation systems, instruments, manipulators, etc., can solve the problems of falling into local minimum points and unreachable targets.

Active Publication Date: 2021-08-03
ZHEJIANG UNIV OF TECH
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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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  • A fire-fighting mobile robot path planning method and system based on improved artificial potential field method
  • A fire-fighting mobile robot path planning method and system based on improved artificial potential field method
  • A fire-fighting mobile robot path planning method and system based on improved artificial potential field method

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[0083] The following will clearly and completely describe the technical solutions in the embodiments of the application with reference to the drawings in the embodiments of the application. Apparently, the described embodiments are only some, not all, embodiments of the application. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

[0084] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field to which this application belongs. The terms used herein in the description of the application are only for the purpose of describing specific embodiments, and are not intended to limit the application.

[0085] In one embodiment, a method for path planning of a fire-fighting mobile robot based on an improved artificial potent...

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Abstract

The invention discloses a path planning method and system for a fire-fighting mobile robot based on an improved artificial potential field method. The method includes obtaining a fire point; obtaining coordinate points of a fire-fighting mobile robot near the fire point; The corresponding relationship between mobile robots; read the environmental information, and use the improved artificial potential field method to calculate the corresponding resultant force of the fire-fighting mobile robot; judge whether the fire-fighting mobile robot is trapped in a local minimum point, and if so, use the simulated annealing algorithm to escape from the local minimum point, Then recalculate the resultant force; otherwise, send the calculated resultant force to the corresponding fire-fighting mobile robot to judge whether the moving fire-fighting mobile robot has reached the corresponding target point, and execute the fire extinguishing operation if it has reached the target point; otherwise, recalculate the resultant force. The invention solves the problems that the target cannot be reached and falls into a local minimum point during the path planning of the artificial potential field method, and at the same time, the fire-fighting mobile robot avoids obstacles 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 ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16B25J11/00G05D1/02A62C27/00
CPCA62C27/00B25J9/16B25J9/1664B25J9/1679B25J11/00G05D1/0212G05D1/0219
Inventor 董辉董浩袁登鹏吴祥吴宇航田叮夏启剑童涛钱学成
Owner ZHEJIANG UNIV OF TECH
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