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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
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Problems solved by technology

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

Method used

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  • Hybrid path planning method for indoor mobile robot
  • Hybrid path planning method for indoor mobile robot
  • Hybrid path planning method for indoor mobile robot

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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...

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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

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Application Information

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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
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