A Path Planning Method
A path planning and road technology, applied in the direction of vehicle position/route/height control, instruments, control/regulation systems, etc., can solve problems such as not being the shortest, lack of map understanding, etc.
Active Publication Date: 2022-06-21
SUZHOU UNIV
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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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[0032] The present disclosure will be further described below with reference to the accompanying drawings and embodiments.
[0033] like figure 1 As shown, in one of the embodiments of the present invention, a path planning method is provided. In this embodiment, the path planning method is an episodic 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 cognitive map;
[0035] S2: Extract the road edge in the historical memory image through the Canny operator;
[0036] S3: will be converted from the pixel coordinate system to the world coordinate system based on the road edge, and make a preliminary judgment on 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 ...
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The invention discloses a path planning method, which includes the following steps: based on the episodic memory model, using the RatSLAM algorithm to establish an experience map and a corresponding episodic cognitive map; extracting the road edge in the historical memory image through the Canny operator; The road edge is converted from the pixel coordinate system to the world coordinate system, and a preliminary judgment is made on the connectivity according to the slope of the road edge; according to the continuous observation of the potential path, energy is continuously injected into the potential path detection network to detect the road Connectivity is further judged; the detected potential path is fused with the original situational awareness map, and the experience map is updated accordingly; path planning is performed based on the updated situational awareness map. The invention can detect the potential safety path in the environment, and plan a better path based on the updated scene memory model.
Description
technical field [0001] The invention belongs to the field of mobile robot path planning, in particular to a situational memory path planning method 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 target 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 the local optimum, the search efficiency of th...
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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