Path planning method and device for mobile robot, and storage medium

A mobile robot and path planning technology, applied in the direction of instruments, motor vehicles, non-electric variable control, etc., can solve the problems of strong randomness and poor stability, and achieve the effect of small randomness, improved growth efficiency, and improved growth efficiency.

Active Publication Date: 2021-08-03
WUHAN UNIV OF TECH
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Problems solved by technology

[0004] The purpose of the present invention is to overcome the above-mentioned technical deficiencies, provide a mobile robot path planning method, equipment and storage medium, and solve the technical problems of blindness, strong randomness and poor stability in the search of mobile robot path planning in the prior art

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  • Path planning method and device for mobile robot, and storage medium
  • Path planning method and device for mobile robot, and storage medium
  • Path planning method and device for mobile robot, and storage medium

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Embodiment Construction

[0052] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0053] see figure 1 , the path planning method of the mobile robot that the embodiment of the present invention provides, comprises the following steps:

[0054] S1. Obtain the starting point and target point of the mobile robot, and establish a first random tree and a second random tree, wherein the first random tree uses the starting point as the root node, and the second random tree uses the target point as the root node root node.

[0055] Specifically, the conventional RRT algorithm is a search algorithm for incremental sampling. Its main idea is to take the starting point of the path as the...

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Abstract

The invention discloses a path planning method an device for a mobile robot, and a storage medium. The method comprises the steps of: S1, obtaining a starting point and a target point of the mobile robot, and building a first random tree and a second random tree; S2, respectively carrying out collision detection on the first random tree and the second random tree, and determining a first to-be-grown node and a second to-be-grown node which are closest to an obstacle; S3, obtaining random probability values of random sampling of the two random trees, and obtaining random sampling points according to the random probability values of the two random trees and a preset fixed probability; S4, obtaining new nodes according to the random sampling points, improving the new nodes, and adding the improved new nodes to the corresponding random trees; and S5, repeating the steps S3 to S4 until the newest nodes on the first random tree and the second random tree meet, and selecting an optimal path generated after the newest nodes on the two random trees are communicated with each other. According to the path planning method and device for the mobile robot, and the storage medium, the defects of blindness, strong randomness and poor stability during path planning are overcome.

Description

technical field [0001] The invention relates to the technical field of path planning, in particular to a path planning method, device and storage medium for a mobile robot. Background technique [0002] With the continuous development of the field of robotics, mobile robots have been closely related to human life and have been widely used in many fields. As one of the core issues in the field of mobile robot research, path planning is an important basis for mobile robots to complete various tasks. The so-called path planning is to let the mobile robot find a safe collision-free and optimal or suboptimal path from the starting point to the end point under the specified known environment. According to the mastery of environmental information, path planning can be divided into two types: global path planning and local path planning. According to the classification of search algorithms, global path planning can be divided into graph search algorithms, swarm intelligence optimi...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0214G05D2201/0217
Inventor 徐劲力肖浩然黄丰云许建宁陈俊松谢志豪王新强符浩
Owner WUHAN UNIV OF TECH
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