Medical mobile robot path planning method, device, and equipment based on RT-Connect improvement, and medium

A mobile robot and path planning technology, applied in two-dimensional position/channel control, instruments, non-electric variable control, etc., can solve the problems of high time and cost of path planning, difficulty in finding the target point, etc., and achieve the path Reduce planning time cost, improve search efficiency, number of iterations and good effect of path planning time

Pending Publication Date: 2020-09-11
湖南爱米家智能科技有限公司
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AI Technical Summary

Problems solved by technology

Although the RRT-Connect algorithm with a dual tree structure can greatly increase the search speed and reduce the search time, for complex medical environments, the time and cost of path planning is very high, and it is difficult to find the target point in a short time

Method used

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  • Medical mobile robot path planning method, device, and equipment based on RT-Connect improvement, and medium
  • Medical mobile robot path planning method, device, and equipment based on RT-Connect improvement, and medium
  • Medical mobile robot path planning method, device, and equipment based on RT-Connect improvement, and medium

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Embodiment Construction

[0050] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0051] Preparations: if figure 2 As shown, the range of the environment map is 500×900, and the starting point of the mobile robot is set as Q init =(270, 81), the target point is Q goal =(270,819). The black squares in the figure are obstacles, and the white areas are feasible areas. In the figure, the starting point is on the left side of the map; the destination point is on the right side of the map. When a reliable optimal path is planned, the mobile robot will start from the starting point, follow the planned path, and reach the target point safely and without collision.

[0052] see figure 1 Shown, the present invention provides a kind of medical mobile robot path planning method based on RRT-Connect improvement, comprises the steps:

[0053] Step 1. Set the starting point Q of the path planning of the mobile robot in the known environment ...

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Abstract

The invention discloses a medical mobile robot path planning method, system, and equipment based on RRT-Connect improvement, and a medium. According to the method, the distance between a starting point and a target point is judged according to a distance cost function; and a second starting point and a second target point with equal distances are sampled simultaneously between the starting pointand the target point through a middle node sampling function, so that the improved algorithm can simultaneously grow six random trees from the starting point, the target point, the second starting point and the second target point, and each random tree simultaneously and quickly expands towards the respective target direction. Meanwhile, a self-adaptive obstacle avoidance resampling principle is added into the algorithm; when a sampling point of the middle node sampling function collides with an obstacle or is located in the obstacle, sampling of the node is abandoned, and then resampling is carried out at the center positions of the node and an adjacent node according to the sampling position of the middle node. Therefore, problems that in a complex environment, a medical mobile robot ishigh in path planning time cost, and a target point is difficult to find in a short time are solved.

Description

technical field [0001] The invention belongs to the field of robot path planning, and in particular relates to an improved RRT-Connect-based path planning method, device, medium and equipment for a medical mobile robot. Background technique [0002] With the continuous advancement of modern technology and the continuous improvement of people's living standards, medical mobile robots have been deeply and widely researched and applied in the medical field. Medical mobile robots refer to mobile robots used for medical treatment or auxiliary medical treatment in hospitals and clinics. The working environment of medical mobile robots is relatively complex and densely populated, and its path planning has always been concerned. How to ensure that the time cost function and distance cost function of the path planning of the medical mobile robot in the complex environment of the medical field are optimal. At the same time, in the known medical environment map or unknown medical env...

Claims

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Application Information

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IPC IPC(8): G05D1/02G01C21/20
CPCG05D1/0088G05D1/0212G01C21/20
Inventor 张辉韦玉海刘理钟杭易俊飞王耀南
Owner 湖南爱米家智能科技有限公司
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