Mobile robot motion planning method and system based on Mecanum wheels

A mobile robot and robot movement technology, applied in the direction of control/regulation systems, instruments, motor vehicles, etc., can solve problems such as unsolvable movement problems and low safety performance, and achieve improved flexibility and autonomous mobility performance, high efficiency, localized Good obstacle avoidance effect

Inactive Publication Date: 2021-08-24
SHANGHAI UNIV
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  • Abstract
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, on the one hand, with the widespread application of mecanum wheel mobile robots, when obstacles and surrounding environments become complex, simple control algorithms cannot solve their motion problems in various scenarios, causing mobile rob

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  • Mobile robot motion planning method and system based on Mecanum wheels
  • Mobile robot motion planning method and system based on Mecanum wheels
  • Mobile robot motion planning method and system based on Mecanum wheels

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Embodiment Construction

[0054] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0055] In order to make the above objects, features and advantages of the present invention more comprehensible, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0056] figure 1 It is a schematic flowchart of the method for motion planning of a mobile robot based on the Mecanum wheel of the present invention. like figure 1 As shown, the mobile robot motion planning metho...

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Abstract

The invention relates to a mobile robot motion planning method and system based on Mecanum wheels. The method comprises the following steps of: creating a grid map based on a working space; based on the grid map, adopting an A * algorithm to carry out global path planning on the mobile robot based on Mecanum wheels to obtain a global path, wherein the global path is a path of the mobile robot from a starting point to an end point, and the global path comprises a plurality of nodes; by taking each node on the global path as a target point, performing local trajectory planning on the mobile robot based on an improved dynamic window method, and tracking the global path. The method is high in global path search efficiency, good in local obstacle avoidance effect and high in robustness, and can help the Mecanum wheel-based mobile robot to autonomously plan paths, flexibly avoid obstacles and safely and stably move based on the field environment, so that the flexibility of the movement is improved, and the autonomy of the movement is enhanced.

Description

technical field [0001] The invention relates to the technical field of autonomous navigation of mobile robot technology, in particular to a method and system for motion planning of a mobile robot based on a Mecanum wheel. Background technique [0002] Mobile robot autonomous navigation path planning can be divided into global path planning based on the global static environment and local trajectory planning based on local sensor information to complete obstacle avoidance. Commonly used global path planning methods include heuristic search algorithms represented by A* algorithm, D* algorithm and their variants, and sampling search algorithms represented by RRT and their variants. A* algorithm is a global path search algorithm with strong robustness and high search efficiency. Commonly used local path planning methods include artificial potential field method and dynamic window method. The dynamic window method is a local trajectory planning method based on velocity sampling...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0221G05D1/0223G05D2201/0217
Inventor 郭帅谷万曾令栋卢文浩荚启波汪生浩朱猛猛
Owner SHANGHAI UNIV
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