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A Path Planning Method Combining Dynamic Step Size rrt* Algorithm and Potential Field Method

A path planning and dynamic step size technology, which is applied in navigation calculation tools, road network navigators, instruments, etc., can solve the problem of expansion without guiding effect, and achieve the effects of accelerating convergence speed, improving flexibility, and improving efficiency

Active Publication Date: 2022-03-04
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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  • A Path Planning Method Combining Dynamic Step Size 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 the dynamic step size RRT* algorithm and the potential field method. The method guides the expansion tree to expand toward the target point by constructing the target point suction potential field and the obstacle repulsion potential field, thereby reducing redundancy. Additional paths improve the efficiency of path planning; at the same time, the expansion step size of the expansion tree is calculated according to the nearest Euclidean distance between the nearest point and the obstacle, taking into account the convergence speed of the algorithm and the smooth path, which improves the flexibility of the robot's obstacle avoidance.

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 Patents(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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