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Curvature consistency path planning algorithm based on adaptive dynamic window method in narrow channel environment

A channel environment and dynamic window technology, applied in navigation calculation tools, measuring devices, instruments, etc., can solve problems such as inability to pass smoothly, and achieve the effect of ensuring curvature consistency, improving rationality and consistency, and increasing driving efficiency.

Pending Publication Date: 2020-12-15
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

[0004] The purpose of the present invention is to provide a curvature-consistent path planning algorithm based on the adaptive dynamic window method in a narrow passage environment in view of the problem that the existing mobile robot local path planning algorithm cannot pass smoothly in the narrow passage

Method used

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  • Curvature consistency path planning algorithm based on adaptive dynamic window method in narrow channel environment
  • Curvature consistency path planning algorithm based on adaptive dynamic window method in narrow channel environment
  • Curvature consistency path planning algorithm based on adaptive dynamic window method in narrow channel environment

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Embodiment Construction

[0016] In order to make the purpose, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the implementation methods and accompanying drawings.

[0017] Such as figure 2 As shown, the original dynamic window path planning algorithm will fall into a local optimum when passing through a narrow channel, so it cannot pass smoothly and safely.

[0018] Concrete implementation steps of the present invention are as follows:

[0019] S1. Sampling in the velocity space, calculate the trajectory simulated for each sampled velocity and the distance D of the nearest obstacle, judge the relationship between D and the threshold Dt, if D>Dt, then proceed to the second step, otherwise, calculate Dynamic weight γ of linear velocity v:

[0020]

[0021] Among them, γ∈[γ min ,γ max ].

[0022] Such as image 3 As shown, after dynamically adjusting the parameters of the velocity term in th...

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Abstract

The invention discloses a curvature consistency path planning algorithm based on an adaptive dynamic window method in a narrow channel environment, and belongs to the technical field of robot navigation. The method comprises the following steps: calculating the distance with a nearest obstacle, and if the distance D is smaller than a threshold value Dt, calculating a dynamic weight gamma of a speed item vel in a target function; calculating a curvature k of a track corresponding to each sampling speed, thereby calculating a curvature similarity factor Csim; and calculating values of a headingitem, a dis item and a vel item in the target function of a standard dynamic window method, and substituting the curvature similarity factor Csim and the dynamic weight gamma of the vel item to obtainan optimal motion trail and a corresponding execution speed at the next moment. According to the method, the problems that when the robot carries out local path planning in the narrow channel, the robot is prone to falling into local optimum, consequently, the terminal point cannot be reached, and the smoothness of the motion planning trajectory is poor are solved, and the reasonability and consistency of trajectory planning in the narrow channel environment are improved.

Description

technical field [0001] The invention belongs to the technical field of mobile robot navigation, and in particular relates to a curvature consistent path planning algorithm based on an adaptive dynamic window method in a narrow passage environment. Background technique [0002] Mobile robot motion planning is divided into global path planning and local motion planning according to the different tasks that need to be completed. Local motion planning is mainly responsible for generating motion behavior, and dynamic obstacle avoidance based on local environmental information, which is a key factor reflecting the intelligence level of mobile robots. [0003] The most widely used local motion planning algorithm for mobile robots is Dynamic Window Approach (DWA). It first samples the velocities that meet the constraints in the velocity space; then simulates the motion trajectories of these sampling velocities within a certain period according to the kinematics model of the robot; ...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20
CPCG01C21/20G01C21/206
Inventor 廣田薰汤璧钧吴向东戴亚平赵凯鑫
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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