A path planning method, device and equipment based on improved artificial potential field method

Abstract

The invention discloses a path planning method, device and equipment based on the improved artificial potential field method. The method includes: S1, modeling the motion environment of the mobile robot; S2, calculating the current Attractive force, repulsive force and resultant force on the node; S3, confirm the current direction of motion of the mobile robot; S4, judge whether the current node of the mobile robot is trapped in the local optimal solution node, if not, execute step S5, otherwise adopt step change The long simulated annealing algorithm jumps out of the local optimal solution node, and executes step S2 after jumping out; S5, obtains the next node of the mobile robot, and judges whether the next node is the target point, and if so, then According to the coordinates of each node between the starting point and the target point of the mobile robot, the walking path of the mobile robot is planned. The invention avoids the problem of falling into the local optimal solution and the unreachable target near the obstacle.

Description

technical field [0001] The present invention relates to the technical field of path planning, in particular to a path planning method, device, equipment and storage medium based on an improved artificial potential field method. Background technique [0002] Path planning technology is a key technology in the field of mobile robots. It is the guarantee for its autonomous movement to complete various tasks, and it is also the prerequisite for all mobile robots to conduct intelligent application research. In recent years, scholars at home and abroad have proposed a series of algorithms to be used in path planning research, mainly including artificial potential field method, ant colony algorithm, genetic algorithm, particle swarm algorithm, A* algorithm, RRT algorithm, etc. Not enough. [0003] Compared with other algorithms, the artificial potential field method algorithm is relatively simple, the amount of calculation is also small, and the planned path is relatively smooth, ...

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Problems solved by technology

[0005] In view of the deficiencies in the prior art above, the purpose of the present invention is to provide a path planning method, device, equipment and storage medium based on the improved artificial potential field method to solve the problem of obstacles near obstacles when the artificial potential field method is currently used. The problem of inability to move when the target is unreachable and trapped in a local optimal solution

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