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Mobile robot path planning and optimizing method based on cost potential field

A mobile robot and path planning technology, applied in the field of mobile robots, to achieve the effects of high practical value, high smoothness, and high obstacle avoidance safety

Active Publication Date: 2021-06-04
CENT SOUTH UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In this context, traditional path planning schemes are difficult to meet the requirements of path length, smoothness, and real-time performance while ensuring the safety of obstacle avoidance. Therefore, a new path planning algorithm is required to satisfy above requirements

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  • Mobile robot path planning and optimizing method based on cost potential field
  • Mobile robot path planning and optimizing method based on cost potential field
  • Mobile robot path planning and optimizing method based on cost potential field

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Embodiment Construction

[0080] The specific implementation manners of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0081] Such as Figure 1-9 As shown, in a specific embodiment, the present invention proposes a mobile robot path planning and optimization method based on cost potential field, including the construction of initial grid map and dynamic obstacle grid map, static obstacle cost potential field And the construction of the dynamic obstacle cost potential field that introduces the obstacle moving speed, the optimal cost candidate path generation based on the minimum spanning tree, and the path smoothing and optimization based on the obstacle cost and path length cost under the dynamic cost potential field.

[0082]In the specific implementation manner, the two-dimensional grid...

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Abstract

The invention provides a mobile robot path planning and optimizing method based on a cost potential field, and the method roughly comprises the steps: initializing a global static scene and a grid map of a dynamic obstacle object, updating and superposing the cost potential field, solving an initial path with the lowest cost through an equipotential line, a tangency point and a tangent line, carrying out the further adjustment and optimization of the path. and finally, obtaining an optimal security path at the current moment. Compared with other path planning and obstacle avoidance methods, the method can comprehensively consider the cost of the path length and the cost of the distance between the path and the obstacle, and guarantees the safety of the path. And meanwhile, the adjusted path also has relatively high smoothness. By introducing the influence of the speed factor of the dynamic obstacle on the obstacle cost potential field, the method also has better performance in a dynamic obstacle avoidance scene.

Description

technical field [0001] The invention relates to the technical field of mobile robots, in particular to the autonomous navigation and dynamic obstacle avoidance technology of mobile robots under a two-dimensional obstacle grid map, and in particular to a method for path planning and optimization of mobile robots based on a cost potential field. Background technique [0002] With the continuous development of industry, service industry, logistics and other industries, the level of intelligence and automation continues to increase. Mobile robots are used to replace manual operations and improve people's work and learning efficiency, and their applications are becoming more and more extensive. For mobile robots, path planning is one of the key technologies for mobile robots to move autonomously. In an environment with obstacles, the quality of path planning will directly affect the safety and stability of mobile robots. For path planning in two-dimensional scenarios, there are i...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/024G05D1/0251G05D1/0257G05D1/0223G05D1/0214G05D1/0221G05D1/0276
Inventor 谢永芳迟胜凯谢世文陈晓方
Owner CENT SOUTH UNIV
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