Optimal node wheeled mobile robot path planning method under optimal energy consumption

Abstract

The invention discloses an optimal node wheeled mobile robot path planning method under optimal energy consumption. The optimal node wheeled mobile robot path planning method comprises energy lost bymotor efficiency, potential energy during ground fluctuation, energy consumed by rolling friction resistance, energy consumed by speed change and turning, actual cost g(n), estimated cost h(n) and anevaluation function f(n). In the searching process, passable nodes which are not put into an openlist table in eight adjacent nodes of current nodes are put into the openlist table, then the passablenodes are put into a caculist table which can be emptied after a new current node is found each time, meanwhile, nodes which are already in the openlist table and have lower g(n) values are put into the caculist table, and then nodes with the minimum f(n) value are found from the caculist table to serve as pre-selected nodes np; whether the pre-selected nodes are within an obstacle range or not isjudged; and if the caculist is empty, nodes with the minimum f value in the openlist table are found as the current nodes, thereby improving the operation speed of the algorithm. The method is simplein concept, convenient to implement, high in robustness and beneficial to meeting the practical requirements of obstacle avoidance and energy consumption management of mobile robot operation.

Description

technical field [0001] The invention relates to the technical field of path planning methods for wheeled mobile robots, in particular to a path planning method for wheeled mobile robots with optimal energy consumption and optimal nodes. Background technique [0002] Wheeled mobile robots use batteries as energy sources, and the energy they can provide is limited. Therefore, the research on path planning methods for wheeled mobile robots with optimal energy consumption has become a public concern of many industrial robot manufacturers and academic research groups. [0003] At present, there are many methods for studying the path planning of wheeled mobile robots with optimal energy consumption, such as ant colony algorithm, etc., which have different application scopes and solution characteristics. However, the existing path is not an ideal path, and it is not always possible to find an energy-saving path. The energy consumption caused by the change of potential energy is not...

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Problems solved by technology

[0004] In order to overcome the problem of the existing research on the path planning method of the wheeled mobile robot with optimal energy consumption, the path is not an ideal path, and the energy-saving path cannot always be found, and the energy consumption caused by the change of potential energy is not considered. Optimal and shortest path with multiple targets, resulting in the deviation of the obstacle avoidance method of the mobile robot under the energy consumption constraint from the actual situation, which reduces the reference value of the energy consumption constraint and other defects. The present invention provides an optimal node wheeled mobile robot path under the optimal energy consumption planning method

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