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Mobile robot path planning method

A mobile robot, path planning technology, applied in the direction of instruments, road network navigators, measuring devices, etc., can solve the problems of many inflection points and insufficient smoothness of the path, and achieve the effect of smoothness optimization, reduction of the number of inflection points, and shortening of the path length.

Inactive Publication Date: 2021-07-30
SHANGHAI DIANJI UNIV
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  • Summary
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  • Claims
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Problems solved by technology

The path planned by the A* algorithm has many inflection points and is not smooth enough

Method used

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  • Mobile robot path planning method
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Embodiment Construction

[0028] In order to facilitate the understanding of the present application, the present application will be described more fully below with reference to the relevant drawings. A preferred embodiment of the application is shown in the drawings. However, the present application can be embodied in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of this application more thorough and comprehensive.

[0029] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field to which this application belongs. The terms used herein in the specification of the application are only for the purpose of describing specific embodiments, and are not intended to limit the application. As used herein, the term "and / or" includes any and all combinations of one or more of the associa...

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Abstract

The invention discloses a mobile robot path planning method. The method comprises the following steps of constructing a grid map of a moving environment of a mobile robot, determining an initial starting node and an initial target node of the mobile robot, and planning a path local graph with n nodes between the initial starting node and the initial target node in the grid map by using an A* algorithm, performing k-equal-part segmentation processing on the distance between every two adjacent nodes in the n nodes to generate a new path node set, wherein the initial starting node and the initial target node in the new path node set are kept unchanged, connecting the initial starting node and the initial target node, judging and optimizing the distance between the obstacle and the connecting line, and acquiring the optimized starting node and the optimized target node, and storing the optimized starting node and the optimized target node into the new path node set, and connecting other nodes in the new path node set in sequence to obtain an optimized one-way planning path of the mobile robot.

Description

technical field [0001] The invention relates to the technical field of artificial intelligence, in particular to a path planning method for a mobile robot. Background technique [0002] With the development of artificial intelligence technology, mobile robots are becoming more and more common in daily life, and the problem of path planning for mobile robots is currently a research hotspot. The problem can be described as a mobile robot to find a shortest or best safe and collision-free path from the starting point to the end point in an environment with obstacles according to a certain performance index. There are many commonly used path planning algorithms. Compared with other algorithms, the A* algorithm has a simple model construction and high search efficiency. The solution obtained for static scenarios is close to the optimal solution, and it has strong scalability and adaptability to different scenarios. The A* algorithm comprehensively evaluates the cost value of the...

Claims

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Application Information

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IPC IPC(8): G01C21/34
CPCG01C21/3446
Inventor 张磊李渊
Owner SHANGHAI DIANJI UNIV
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