Robot rolling path planning method and system, storage medium, equipment and application

Abstract

The invention belongs to the technical field of robot path planning, and discloses a robot rolling path planning method and system, a storage medium, equipment and application. The method comprises the steps of carrying out initialization; constructing a rolling path planning area and calculating a comprehensive static situation field borne by each non-obstacle node; calculating a dynamic repulsive force potential field of eight nodes around the current node; judging whether the current node is a target point or not, and judging whether the current point is located at the window boundary of the rolling planning; outputting a planned path in the current rolling window; judging whether the feasible path length planned in the current rolling window is larger than the robot advancing step length or not; on the basis of a local path obtained by each round of rolling planning, carrying out path smoothing on connectivity detection of path nodes; and storing the path points subjected to the smoothing processing in a PointList. According to the method, a vector synthesis method is replaced by a potential field intensity calculation method, so that the problem of local extremum of a traditional artificial potential field method is avoided, and the requirement of dynamic obstacle avoidance is better met.

Description

technical field [0001] The invention belongs to the technical field of robot path planning, and in particular relates to a robot rolling path planning method, system, storage medium, equipment and application. Background technique [0002] At present, in an unknown environment with dynamic obstacles, mobile robots can only obtain instantaneous "static" local environmental information through sensors, and the dynamic information of the environment can be obtained through several "static" local environmental information, mainly Dynamic obstacle information, making full use of this information can realize the path planning of a local environment, and several such local plans can complete a global path planning task, so the use of rolling window method for path planning is the research of this kind of problem a natural selection. Most of the research on path planning of mobile robots is mainly limited to static environments, but in actual situations there are moving obstacles, ...

AI Technical Summary

Problems solved by technology

[0004] (1) Poor path planning ability in dynamic environment

[0005] The traditional artificial potential field method only considers the distance information between the robot and the target point and obstacles, so it is usually used for path planning in a static environment and has poor adaptability to a dynamic environment

When there are dynamic obstacles or dynamic target points, the traditional artificial potential field method will not be able to reach the target point smoothly due to poor real-time performance

[0006] (2) Target unreachable problem

[0007] When the distance between the robot and the target point is very close, if there is an obstacle near the target point, the gravitational force on the robot is approximately zero compared to the maximum repulsion force at this time, and it will be difficult for the robot to reach the target point

[0008] (3) Local minimum problem

[0010] (4) Path oscillation problem

[0014] (1) Most of the research on the path planning of mobile robots is mainly limited to the static environment, but there are moving obstacles in the actual situation, and it is difficult for the sensor system to give a detailed description of the obstacles, so the application of the traditional artificial potential field collision avoidance method is effective not ideal

[0015] (2) The path planning ability of the dynamic environment of the traditional artificial potential field is poor, only considering the distance information between the robot and the target point, and obstacles, so it is usually used for path planning in a static environment, and the adaptability to the dynamic environment is poor

When there are dynamic obstacles or dynamic target points, the traditional artificial potential field method will not be able to reach the target point smoothly due to poor real-time performance

[0016] (3) The traditional artificial potential field has the problem of target inaccessibility

When the distance between the robot and the target point is very close, if there is an obstacle near the target point, the gravitational force on the robot is approximately zero compared to the maximum repulsion force at this time, and it will be difficult for the robot to reach the target point

[0017] (4) There is a local minimum problem in the traditional artificial potential field

[0018] (5) There is a path oscillation problem in the traditional artificial potential field, that is, the oscillation phenomenon occurs in front of the obstacle and advances in a zigzag state

The further technical problem is that the path planned by the robot is not easy to move in the actual operation scene

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