Robot trajectory planning method and system

A trajectory planning and robotics technology, applied in control/regulation systems, instruments, navigation, etc., can solve the problem of high computational cost, and achieve the effect of reducing the number and computational burden

Active Publication Date: 2020-12-25
SHANDONG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the inventors found that repeated pruning generates more motion corridors in the high-resolution map environment with fine grids, and the calculation cost is relatively high

Method used

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  • Robot trajectory planning method and system
  • Robot trajectory planning method and system
  • Robot trajectory planning method and system

Examples

Experimental program
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Embodiment 1

[0044] refer to figure 1 , a robot trajectory planning method of the present embodiment, which includes:

[0045] Step S101: Obtain the feasible path of the robot.

[0046] In a specific implementation, a feasible path can be obtained through the Hybrid A* algorithm.

[0047] It should be noted here that other existing algorithms can also be used to obtain feasible paths, which will not be repeated here.

[0048] In the following, the Hybrid A* algorithm obtains a feasible path as an illustration.

[0049] Step S102: Repeatedly pruning motion corridors of feasible paths.

[0050] In order to make use of as much free space as possible for each movement corridor, it is necessary to perform two steps of initial expansion and axial expansion. The initial expansion is to expand the initial free space of the nodes in the path that need to generate motion corridors. Since each node in the path has been stored in the path array by the Hybrid A* algorithm during the front-end sear...

Embodiment 2

[0112] The present embodiment provides a robot trajectory planning system, which includes:

[0113] A feasible path obtaining module, which is used to obtain the feasible path of the robot;

[0114] a repetitive pruning module for repetitive pruning of motion corridors of feasible paths;

[0115] An undirected graph forming module, which is used to form an undirected graph based on the connection relationship between the motion corridors after repeated pruning, wherein each motion corridor is used as a vertex of the undirected graph, and contains one of the motion corridors of the front-end path search path point. The intersecting area between serves as the edge connecting the vertices;

[0116] An optimal motion corridor search module, which is used to search for a group of optimal motion corridor combinations based on the Dijkstra algorithm and the time cost of each edge;

[0117] The planning trajectory generation module is used to use the optimal motion corridor combinat...

Embodiment 3

[0120] This embodiment provides a computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, the steps in the robot trajectory planning method described in the first embodiment above are implemented.

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Abstract

The invention belongs to the field of robot trajectory planning, and provides a robot trajectory planning method and system. The robot trajectory planning method comprises the steps that a feasible path of a robot is acquired; motion corridors of the feasible path are pruned repeatedly; an undirected graph is formed based on the communication relation between the motion corridors obtained after repeated pruning, wherein each motion corridor serves as a vertex of the undirected graph, and intersection areas between the motion corridors containing front-end path search path points serve as edgesconnecting the vertexes; based on a Dijkstra algorithm and the time cost of each edge, a set of optimal motion corridor combination is searched for; and the optimal motion corridor combination servesas a safety constraint, and a robot planning trajectory is generated based on a Bernstein polynomial-based piecewise curve trajectory formula.

Description

technical field [0001] The invention belongs to the field of robot trajectory planning, and in particular relates to a robot trajectory planning method and system. Background technique [0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art. [0003] After planning the feasible path of the robot in the plane, it is necessary to extract the free space in the environment to form hard constraints on the position for back-end trajectory planning to ensure the safety of the trajectory. Here, the free space is referred to as a motion corridor. [0004] The motion corridor can provide hard constraints on the location of the trajectory, and also determines the number of segments of the trajectory. The increase in the number of motion corridors will lead to an increase in trajectory segmentation, and the increase in trajectory segmentation increases the number of parameters that need ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20G01C21/00G06Q10/04
CPCG01C21/20G01C21/005G06Q10/047G05D1/0217
Inventor 周风余冯震高阳天万方顾潘龙夏英翔
Owner SHANDONG UNIV
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