Mobile robot obstacle avoidance path planning method

A mobile robot and path planning technology, applied in the direction of instruments, motor vehicles, non-electric variable control, etc., can solve problems such as failure to reach the designated target point, intelligent robot falling into local minimum, and complex local environmental information, etc. The effect of adaptive and flexible planning of obstacle avoidance paths

Pending Publication Date: 2021-08-24
TAIYUAN UNIVERSITY OF SCIENCE AND TECHNOLOGY
View PDF7 Cites 1 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In order to solve the problem that the artificial potential field method in the prior art will cause the intelligent robot to fall into a local minimum or fail to reach the designated target point, the present invention discloses an obstacle avoidance method based on the combination of the improved traditional artificial potential field method and the dynamic window method. Path planning method, and due to the complexit

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Mobile robot obstacle avoidance path planning method
  • Mobile robot obstacle avoidance path planning method
  • Mobile robot obstacle avoidance path planning method

Examples

Experimental program
Comparison scheme
Effect test

Example Embodiment

[0041] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention, the present invention will be described in further detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely intended to illustrate the invention and are not intended to limit the invention.

[0042] A mobile robot avoidance path planning method, the specific steps are as follows:

[0043]I. Working environment information based on mobile robot on-board external sensor laser radar acquisition grid environment map, each grid is marked as an obstacle and free space according to environment information, and perform initialization set gravity scale factor ε, repulsive scale scale Factor η, the effect of obstacles ρ 0 , Steps L and robot starting point and reach the target point.

[0044] Second, by improving gravity and repulsion field functions, calculating the g...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention belongs to the field of local navigation of robots and intelligent vehicles. According to the specific technical scheme, the obstacle avoidance path planning method for the mobile robot comprises the following specific steps: 1, constructing a grid environment map based on working environment information acquired by a vehicle-mounted external sensor laser radar of the mobile robot; 2, calculating gravitation borne by the robot, an included angle between the gravitation and the horizontal direction, repulsive force and an included angle between the repulsive force and the horizontal direction by improving gravitation and repulsive force field functions; 3, calculating resultant force borne by the robot and an included angle between the resultant force and the horizontal direction; 4, calculating and storing the next position of the robot; 5, enabling the robot to move to the next position from the current position, and adding the corresponding step length every time the robot operates by one step; 6, judging whether the robot reaches a specified target point or not, and ending if the robot reaches the target point, if not, returning to the step 2. According to the method, the original potential field function is corrected to ensure that the robot reaches the specified target position, and robot path planning is realized.

Description

technical field [0001] The invention belongs to the field of local navigation of robots and intelligent vehicles, and in particular relates to an obstacle avoidance path planning method for a mobile robot based on the combination of an improved artificial potential field method and a dynamic window method. Background technique [0002] With the development of science and technology, the application of mobile robots involves all walks of life. Mobile robots involve multiple theories such as multi-sensor information fusion, computer and communication technology, and automatic control, and integrate the disciplines of mechanics, electronics, computers, automation, and artificial intelligence. Autonomous navigation is the key technology for mobile robots to realize intelligence, and path planning is the basic part of autonomous navigation. Path planning means that the robot can avoid obstacles in the process of reaching the designated target point starting from the current posit...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): G05D1/02
CPCG05D1/024G05D1/0214G05D1/0276G05D1/0219G05D2201/02
Inventor 张春美曹靖宇郭红戈陈高华周婕
Owner TAIYUAN UNIVERSITY OF SCIENCE AND TECHNOLOGY
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap