Improved rapid search random tree path planning method in large-area environment

A path planning and search tree technology, applied to road network navigators, navigation, instruments, etc., can solve the problem that random search trees cannot adapt to large-area environments, and achieve the effect of reducing complexity and improving execution efficiency

Active Publication Date: 2021-02-23
STATE GRID ANHUI ULTRA HIGH VOLTAGE CO
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Problems solved by technology

[0005] The purpose of the embodiments of the present invention is to provide an improved fast search random tree path planning method in a la...

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  • Improved rapid search random tree path planning method in large-area environment
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  • Improved rapid search random tree path planning method in large-area environment

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Embodiment Construction

[0053] The specific implementation manners of the embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation manners described here are only used to illustrate and explain the implementation manners of the present invention, and are not intended to limit the implementation manners of the present invention.

[0054]In the embodiments of the present invention, unless stated otherwise, the used orientation words such as "up, down, top, bottom" are usually for the directions shown in the drawings or for vertical, vertical or The term used to describe the mutual positional relationship of each component in terms of the direction of gravity.

[0055] In addition, if there are descriptions involving "first", "second" and so on in the embodiments of the present invention, the descriptions of "first", "second" and so on are only for descriptive purposes, and should not be...

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Abstract

The embodiment of the invention provides an improved rapid search random tree path planning method in a large-area environment, and belongs to the technical field of robot path planning. According tothe improved rapid search random tree path planning method in the large-area environment, sampling points are searched in a planning space, and search trees are established between the starting pointand the sampling points, between the sampling points and the starting point, between the sampling points and the target point and between the target point and the sampling points respectively for pathsearch. A path planning problem of a large-area environment is converted into a plurality of path planning problems, the complexity of a path planning algorithm is reduced, and the execution efficiency of the path planning algorithm is improved.

Description

technical field [0001] The invention relates to the technical field of path planning for mobile robots, in particular to an improved fast search random tree path planning method in a large-area environment. Background technique [0002] With the continuous improvement of human living standards and the rapid development of industrial automation and intelligence, the application of robots is becoming more and more extensive, and the research is getting more and more in-depth. Intelligent mobile robots have developed rapidly and are widely used in different fields such as agriculture, industry, service industry, aerospace, medical treatment, and military affairs, and have great social value. During the moving process, the robot will encounter many obstacles, and how to plan a collision-free path from the start point to the end point in a complex and changeable working environment is a major topic in the research of mobile robots. [0003] In the long-term development process o...

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Application Information

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IPC IPC(8): G01C21/34
CPCG01C21/3446
Inventor 黄杰尚伟伟董翔宇朱俊吴永恒刘鑫汪太平杨波柴宏博陈源崇宝辰张飞
Owner STATE GRID ANHUI ULTRA HIGH VOLTAGE CO
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