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Path planning method combining dynamic step RRT* algorithm and potential field method

A technology of path planning and dynamic step size, which is applied in navigation computing tools, road network navigators, measuring devices, etc., can solve the problem of expansion without guiding function, solve the contradiction between real-time and smoothness, and reduce redundancy The effect of redundant channels and improving flexibility

Active Publication Date: 2020-12-01
NANJING UNIV OF INFORMATION SCI & TECH
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Problems solved by technology

[0004] Purpose of the invention: Aiming at the problems existing in the prior art, the present invention provides a path planning method combining the dynamic step size RRT* algorithm and the potential field method, which solves the problem that the target point has no guiding effect on the expansion tree expansion, Reduce redundant paths, improve the efficiency of robot path planning, and improve the flexibility of obstacle avoidance through dynamic step size

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  • Path planning method combining dynamic step RRT* algorithm and potential field method
  • Path planning method combining dynamic step RRT* algorithm and potential field method
  • Path planning method combining dynamic step RRT* algorithm and potential field method

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[0049] The present invention will be further explained below in conjunction with the accompanying drawings and specific embodiments.

[0050] The invention discloses a path planning method combining the dynamic step size RRT* algorithm and the potential field method, such as figure 1 shown, including:

[0051] S1. Determine the position coordinates of the starting point q_start and the target point q_Goal of the robot, determine the position and contour of the obstacle; determine the RRT* reference step length ε; in this embodiment, set ε=5;

[0052] If the straight line path from q_start to q_Goal does not touch obstacles, the planned path is a straight line segment from q_start to q_Goal; otherwise, the starting point q_start of the robot is used as the root node of the extended tree in the RRT* algorithm, according to step S2- S8 determines the planning path:

[0053] S2. Obtain a random state point q_random by random sampling in the robot motion area, and search for the ...

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Abstract

The invention discloses a path planning method combining a dynamic step length RRT* algorithm and a potential field method, and the method comprises the steps: guiding an extension tree to extend towards a target point through constructing a target point suction potential field and an obstacle repulsion potential field, reducing redundant paths, and improving the path planning efficiency; and meanwhile, calculating the extension step length of the extension tree according to the nearest Euclidean distance between a nearest point and the obstacle such that the algorithm convergence speed and path smoothness are both considered, and the obstacle avoidance flexibility of the robot is improved.

Description

technical field [0001] The invention belongs to the technical field of robot autonomous navigation, and in particular relates to a path planning method capable of avoiding obstacles. Background technique [0002] With the continuous development of robot technology, the deepening of research on robots and its growing market applications, robotics is becoming a popular research subject at home and abroad. As an important part of the automatic navigation of mobile robots, path planning has always been the focus and hot spot in the field of robotics. Effective path planning is the prerequisite for robots to complete various operations and tasks. According to different algorithm characteristics, path planning can be divided into planning methods based on traditional algorithms and planning methods based on intelligent algorithms. Traditional algorithms are mostly based on computer graph theory or construct related geometric models. Intelligent algorithm is an emerging bionic o...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20G01C21/34
CPCG01C21/20G01C21/3446
Inventor 臧强张国林王泽嘉靳雨桐
Owner NANJING UNIV OF INFORMATION SCI & TECH
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