Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Hybrid path planning method for indoor mobile robot

A mobile robot and hybrid path technology, applied in the fields of artificial intelligence and robot navigation, can solve problems such as lack of real-time obstacle avoidance capabilities

Active Publication Date: 2020-11-13
HARBIN ENG UNIV
View PDF19 Cites 8 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the bat algorithm as a global path planning method does not have real-time obstacle avoidance capabilities.

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Hybrid path planning method for indoor mobile robot
  • Hybrid path planning method for indoor mobile robot
  • Hybrid path planning method for indoor mobile robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0108] The invention discloses a mixed path planning method for an indoor mobile robot. The bat algorithm is used for global path planning, and a dynamic window method is used on this basis to realize global path optimization and real-time obstacle avoidance. Technical scheme of the present invention is as follows:

[0109] The present invention provides a flow chart of a hybrid path planning method for an indoor mobile robot as shown in figure 1 As shown, the specific process is as follows:

[0110] Step 1: Assuming that the working space of the robot is a two-dimensional plane, use the grid method to model the space where the robot is located. The horizontal direction is the x-axis, the vertical direction is the y-axis, and the black grid has obstacles, which are obstacle grids grid, the white grid does not contain obstacles, it is a free grid.

[0111] Step 2: Initialize the parameters of the algorithm, including the number of iterations T, the number of bat populations N...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention belongs to the technical field of artificial intelligence and robot navigation, and particularly relates to a hybrid path planning method for an indoor mobile robot. According to the method, using a grid method for modeling the environment; searching a global path by using a bat algorithm as a global path planning method; optimizing the obtained global path, namely deleting redundantpath nodes, and reducing the length of the path and turning points of the path; designing an evaluation function of a dynamic window method, and bringing the global path into the evaluation functionof the dynamic window method to realize the combination of local planning and global planning; introducing an adaptive idea to dynamically adjust the coefficient of the evaluation function, and improving the dynamic obstacle avoidance capability of the fusion algorithm. The method can be applied to path planning of the indoor mobile robot, path planning and robot control are combined, and dynamicobstacle avoidance is considered under the condition that the global optimal path is guaranteed.

Description

technical field [0001] The invention belongs to the technical field of artificial intelligence and robot navigation, and in particular relates to a mixed path planning method for an indoor mobile robot. Background technique [0002] Path planning means that the robot searches for an optimal or approximately optimal non-collision path from the initial state to the target state according to a certain performance index. Its essence is the problem of obtaining an optimal or feasible solution under several constraints. It is the point of application for mobile robots to move autonomously. A good path planning method can save a lot of time and labor costs in the work. At present, the commonly used path planning methods can be divided into two categories: traditional algorithms and intelligent algorithms. Among them, the traditional algorithms mainly include A* algorithm, artificial potential field method, D* algorithm, etc. However, with the continuous expansion of the applica...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0255G05D1/0223G05D1/0221
Inventor 原新苑新伟吕晓龙柳潆林
Owner HARBIN ENG UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com