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Path planning method

A path planning and path technology, applied in vehicle position/route/height control, non-electric variable control, instruments, etc., can solve the problems of lack of map understanding, not the shortest, etc.

Active Publication Date: 2021-07-13
SUZHOU UNIV
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The path planning algorithm based on episodic memory can plan the optimal path based on the existing cognitive map, but this path planning method lacks the understanding of the map, and may not be the shortest in the world

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Embodiment Construction

[0032] The present disclosure will be further described below in conjunction with the accompanying drawings and embodiments.

[0033] Such as figure 1 As shown, a path planning method is provided in one of the embodiments of the present invention. In this embodiment, the path planning method is a scene memory path planning method based on memory fusion, and the path planning method includes the following steps:

[0034] S1: Based on the episodic memory model, use the RatSLAM algorithm to establish an experience map and a corresponding episodic cognition map;

[0035] S2: extract the road edge in the historical memory image by the Canny operator;

[0036] S3: transforming from the pixel coordinate system to the world coordinate system based on the road edge, and making a preliminary judgment on the connectivity according to the slope of the road edge;

[0037] S4: According to the continuous observation of the potential path, continuously inject energy into the potential path...

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Abstract

The invention discloses a path planning method, which comprises the following steps of: based on a scene memory model, establishing an experience map and a corresponding scene cognition map by using a RatSLAM algorithm; extracting a road edge in the historical memory image through a Canny operator; converting a pixel coordinate system to a world coordinate system based on the road edge, and performing preliminary judgment on connectivity according to the slope of the road edge; continuously injecting energy into the potential path detection network according to continuous observation of the potential path so as to further judge the road connectivity; fusing the detected potential path with the original scene cognition map, and correspondingly updating an experience map; and performing path planning based on the updated scene cognitive map. According to the method, the potential safety path in the environment can be detected, and a better path is planned based on the updated scene memory model.

Description

technical field [0001] The invention belongs to the field of path planning of mobile robots, and in particular relates to a path planning method for scene memory based on memory fusion. Background technique [0002] When a mobile robot models the environment in an unfamiliar environment, it needs to plan a safe path to the goal to carry out related navigation tasks. Due to the complexity of the actual environment in reality, the algorithm needs to have a certain ability to adapt to the dynamic information in the environment. Traditional path planning algorithms such as A* (A-Star, A*), artificial potential field method and fast search random tree ( The performance of algorithms such as Rapidly-exploring Random Trees (RRT) will be greatly limited, and the path planning effect in complex environments is not ideal. Among them, the path planned by the A* algorithm is not smooth enough, the artificial potential field method is easy to fall into local optimum, and the search effi...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0253G05D1/0214G05D1/0221G05D1/0276G05D1/0274G05D1/246G05D1/24G05D1/2437G05D1/22
Inventor 孙荣川吴俊毅郁树梅陈国栋孙立宁
Owner SUZHOU UNIV
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