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Method and device for path planning of mobile robot in dynamic environment

A mobile robot, dynamic environment technology, applied in the field of mobile robots, can solve the problems of robot damage, affecting business execution, and easy falling of robots, so as to avoid falling, avoid falling, and reduce ineffective motion.

Active Publication Date: 2021-07-20
PEKING UNIV
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  • Abstract
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  • Claims
  • Application Information

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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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  • Method and device for path planning of mobile robot in dynamic environment
  • Method and device for path planning of mobile robot in dynamic environment

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Embodiment Construction

[0045] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided for 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, technical terms or scientific terms used in this application shall have the usual meanings understood by those skilled in the art to which this application belongs.

[0047] In addition, the terms "first" and "second", etc. are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "include" and "have", as well as any variations the...

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Abstract

The present application provides a method and device for path planning of a mobile robot in a dynamic environment. Wherein, the method includes: constructing a three-dimensional map around the mobile robot in the virtual scene; determining the shortest link between the current position of the mobile robot and the target position in the three-dimensional map along the ground in the three-dimensional map line, the shortest line includes a steep position point and a flat position point; for each of the steep position points, starting from the steep position point, along the direction perpendicular to the shortest line, in the three-dimensional map Finding a flat location point whose slope is smaller than the preset slope threshold; connecting the flat location point in the shortest line with the found flat location point to generate a movement path planned for the mobile robot. The path planning method and device provided by the technical solution of the present application can not only prevent the robot from falling down, but also reduce invalid motion.

Description

technical field [0001] The present application relates to the technical field of mobile robots, in particular to a method and device for path planning of a mobile robot in a dynamic environment. Background technique [0002] Robot (Robot) is a machine device that automatically performs work. It can accept human commands, run pre-programmed programs, and act according to principles and programs 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, 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 mor...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/024G05D1/0257G05D1/0276
Inventor 罗法蕾
Owner PEKING UNIV
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