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Space sampling method and device applied to path planning, equipment and medium

A space sampling and path planning technology, applied in the direction of program control manipulators, complex mathematical operations, manipulators, etc., can solve the problems of difficult and time-consuming path planning and sampling

Active Publication Date: 2020-11-10
PING AN TECH (SHENZHEN) CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Based on this, it is necessary to address the above technical problems and provide a space sampling method, device, equipment, and medium for path planning to solve the problem of difficult and time-consuming path planning sampling in a state space with complex environments

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  • Space sampling method and device applied to path planning, equipment and medium
  • Space sampling method and device applied to path planning, equipment and medium
  • Space sampling method and device applied to path planning, equipment and medium

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Embodiment Construction

[0026] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some of the embodiments of the present invention, but not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0027] This program belongs to the field of smart transportation, through which the construction of smart cities can be promoted. The spatial sampling method applied to path planning provided by this embodiment can be applied in such as figure 1 application environment in which the client communicates with the server. Among them, clients include but are not limited to various personal computers, notebook computers, smart phones, tablet computers and p...

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Abstract

The invention relates to the field of artificial intelligence, and discloses a space sampling method, device applied to path planning, equipment and a medium. The method comprises the steps that an effective point set SG of a state space S is determined through a pre-sampling method, and any point in the effective point set SG is mapped into a feasible region QL of the state space Q through a first mapping relation; and one sampling strategy is selected from a specified number of sampling strategies as an execution strategy according to a preset random selection rule, and the specified numberof sampling strategies at least comprise a first sampling strategy, a second sampling strategy and a third sampling strategy. According to the space sampling method, under the conditions of multi-state space and multi-constraint conditions, the processing efficiency of path planning can be improved, and the sampling time consumption is reduced; and the method can be applied to the field of smart transportation, thereby promoting the construction of smart cities.

Description

technical field [0001] The invention relates to the field of artificial intelligence, in particular to a space sampling method, device, equipment and medium applied to path planning. Background technique [0002] In recent years, research on path planning methods has been increasing. Path planning algorithms are widely used in various motion control fields, such as robotic arms, intelligent driving, and drones. Among them, the path planning method based on random sampling is a research hotspot. The path planning method based on random sampling refers to the method of sampling the state space (solution space) to establish landmarks or path branches. The method is probabilistically complete, that is, if there is a solution between the start point and the end point, as long as the number of sampling points is sufficient, a feasible path can be generated. [0003] At present, there are many algorithms for generating paths based on sampling points, such as RRT (Rapidly Extende...

Claims

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Application Information

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IPC IPC(8): B25J9/08B25J9/16G06F17/18
CPCB25J9/08B25J9/1664B25J9/1679G06F17/18
Inventor 何敏聪周宸周宝陈远旭
Owner PING AN TECH (SHENZHEN) CO LTD
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