Robot Path Planning Method Based on Adaptive Neighborhood and Steering Cost

Abstract

The invention discloses a robot path planning method based on adaptive neighborhood and steering cost. The implementation steps are: (1) constructing a square grid map; (2) judging whether there is an obstacle in each grid in the grid map, and if so, judging the grid as an impassable grid; otherwise, Passable grid; (3) Use the adaptive neighborhood strategy to determine the search range; (4) Construct the evaluation function; (5) Determine the next path point; (6) Determine whether the determined next path point is the one that the robot intends to drive The end point of the path, if so, then execute step (7), otherwise, execute step (3); (7) connect the path points from the start point of the robot to the end point sequentially to obtain the optimal driving path of the robot. Compared with the existing path planning algorithm, the present invention has the advantages of less redundant points, smooth path and high operating efficiency.

Description

Technical field [0001] The invention belongs to the technical field of physics, and further relates to a robot path planning method based on adaptive neighborhood and steering cost in the technical field of path planning. The invention can plan the path of the robot to the destination in the movement process. technical background [0002] Robot path planning belongs to the field that robots are widely used in intelligent inspection and automatic driving of robots. Robot path planning refers to the analysis and processing of prior information such as maps and data sensed by sensors in the space with obstacles, so as to perceive the surrounding environment of the robot. After the perception of the surrounding environment is completed, an optimal path from the starting node to the target node can be found through a designed strategy, so as to ensure that when driving along this path, obstacles can be bypassed and the destination can be reached smoothly. In the path planning of robot...

AI Technical Summary

Problems solved by technology

[0007] The purpose of the present invention is to address the deficiencies in the above-mentioned prior art, and propose a robot path planning method based on adaptive neighborhood and steering cost, aiming at solving the problem of redundant points in the planned path in path planning, uneven paths and turning problems. Too many problems that affect the efficiency of the robot

[0008] The idea of ​​realizing the object of the present invention is: when the current waypoint searches for the next waypoint, the adaptive neighborhood strategy is used to search, and according to the distribution of obstacles around the waypoint, the search range of the next waypoint is adaptively adjusted to get rid of The constraints of fixed neighbors in the existing path planning methods solve the problem of many redundant points and unsmooth paths in path planning

After the search range is determined, the evaluation function is used to evaluate each passable grid within the search range, and by adding the steering cost function to the evaluation function, the path planning method tends to select the path point with a smaller turn, and solve the problem of the path. Too many steering issues that affect the efficiency of the robot's operation

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