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Mobile robot path planning method and device in dynamic environment

A mobile robot and dynamic environment technology, applied in the field of mobile robots, can solve the problems of easy falling of robots, damage to robots, affecting business execution, etc., and achieve the effect of reducing invalid motion, avoiding falling, and avoiding falling.

Active Publication Date: 2020-10-27
PEKING UNIV
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Problems solved by technology

[0004] Intelligent robots can be applied to various scenarios, such as hotels, guesthouses, factories, exhibition halls, shopping malls, residences, grasslands, cultivated land, woodlands, underwater, seabed, etc. With the advancement of technology, mobile robots (also known as mobile robots) have gained There are more and more applications, which can move according to user instructions or intelligent programs. However, in outdoor scenes, especially in the case of uneven ground, the robot is prone to fall, which will affect the execution of the business at least, and cause the robot to fall. damage; in addition, outdoor robots are generally powered by batteries, and their battery life is limited. In order to perform more tasks during the battery life, it is necessary to reduce the invalid movement of the robot

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  • Mobile robot path planning method and device in dynamic environment
  • Mobile robot path planning method and device in dynamic environment

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Embodiment Construction

[0045] Hereinafter, exemplary embodiments of the present disclosure will be described in more detail with reference to the accompanying drawings. Although the drawings show exemplary embodiments of the present disclosure, it should be understood that the present disclosure may be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0046] It should be noted that, unless otherwise specified, the technical or scientific terms used in this application shall have the usual meaning understood by those skilled in the art to which this application belongs.

[0047] In addition, the terms "first" and "second" are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any varia...

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Abstract

The invention provides a mobile robot path planning method and device in a dynamic environment. The method comprises the following steps: constructing a three-dimensional map around the mobile robot in a virtual scene; along the ground in the three-dimensional map, determining the shortest connecting line between the current position and the target position of the mobile robot in the three-dimensional map, wherein the shortest connecting line comprises a steep position point and a flat position point; for each steep position point, starting from the steep position point, searching for a flat position point with the gradient smaller than the preset gradient threshold in the three-dimensional map in the direction perpendicular to the shortest connecting line; and connecting the flat positionpoint in the shortest connecting line with the found flat position point to generate a moving path planned for the mobile robot. According to the path planning method and device provided by the technical scheme of the invention, the robot can be prevented from falling down, and invalid motion can be reduced.

Description

Technical field [0001] This application relates to the technical field of mobile robots, and in particular to a method and device for path planning of a mobile robot in a dynamic environment. Background technique [0002] A robot is a machine device that automatically performs work. It can accept human commands, run pre-arranged programs, or act according to principles and guidelines formulated with artificial intelligence technology. [0003] With the development of artificial intelligence (AI) technology, intelligent robot technology has developed rapidly and has begun to be applied in real life, bringing great convenience to people's daily life. [0004] Intelligent robots can be applied to various scenarios, such as hotels, hotels, factories, exhibition halls, shopping malls, residences, grasslands, arable land, woodland, underwater, seabed, etc. With the advancement of technology, mobile robots (also known as mobile robots) have More and more applications, which can be moved ac...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/024G05D1/0257G05D1/0276
Inventor 罗法蕾
Owner PEKING UNIV
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