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Robot global path planning method based on genetic algorithm and cubic spline interpolation

A technology of global path planning and genetic algorithm, applied in the field of robot global path planning based on genetic algorithm and cubic spline interpolation

Inactive Publication Date: 2021-08-06
XUZHOU NORMAL UNIVERSITY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The invention provides a new idea for solving the global path planning problem of mobile robots

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  • Robot global path planning method based on genetic algorithm and cubic spline interpolation
  • Robot global path planning method based on genetic algorithm and cubic spline interpolation
  • Robot global path planning method based on genetic algorithm and cubic spline interpolation

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Embodiment Construction

[0042] In order to facilitate understanding, the technical solutions in the embodiments of the present invention will be described in detail below in connection with the drawings of the embodiments of the present invention. The described embodiments are merely the embodiment of the present invention.

[0043] like figure 1 As shown, a mobile robot path planning method based on improved genetic algorithm, mainly including the following steps:

[0044] S1: Modeling the working environment of the mobile robot using a multifaceted model representation;

[0045] Modeling the working environment of the mobile robot using a multi-face model representation. The moving robot's sports space is represented by a two-dimensional planar pattern, and the vertices of the obstacle are recorded in (x, y). The obstacle is set to static, random, known for any irregular polygons.

[0046] S2: Code;

[0047] Use two dimensional coordinates to represent the path of the robot.

[0048] S4: Generate initi...

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Abstract

The invention discloses a robot global path planning method based on a genetic algorithm and cubic spline interpolation. The method comprises the steps of: representing an environment space where a robot is located by adopting a polyhedral model representation method; representing a driving path of the robot by using two-dimensional coordinates; generating an initial path set by adopting a random search strategy and a directional search strategy, so that the diversity of an initialized population is ensured; adopting a proper collision detection method according to priori knowledge such as environmental map information and characteristics of obstacles; using a fitness function with penalty; adopting a roulette selection method, single-point crossover, random variation and other modes to carry out genetic manipulation on the initialized population; simulation experiments show that the method has good feasibility and effectiveness for solving the global path planning problem of the robot. The invention provides a new thought for solving the global path planning problem of the mobile robot.

Description

Technical field [0001] The present invention belongs to the field of robot, involving a geophysical global path planning method based on genetic algorithm and three spline interpolation. Background technique [0002] Robot technology is the results of modern scientific theory and practice integrated crossings. At the end of the 1960s, Stanford Institute developed an independent mobile robot and path planning method was its key core technology. Mobile robot path planning technology is that the robot is following some optimization indicators (such as the shortest time, the least power and the lowest energy consumption, etc.), which plans the optimal path from the starting point to the destination point in the operating environment. [0003] The mobile robot path plan is essentially an optimization problem that meets certain constraints, and its algorithm has the characteristics of complexity, randomness, multi-objectivity, and multi-binding. Depending on the robot's understanding o...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0214G05D1/0221G05D1/0276
Inventor 路瑞张兆军徐涛孙锐
Owner XUZHOU NORMAL UNIVERSITY