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Path optimization method based on dynamic window and redundant node filtering

A redundant node and dynamic window technology, which is applied in motor vehicles, transportation and packaging, control/regulation systems, etc., can solve problems such as low efficiency, and achieve high efficiency, high accuracy, improved safety and smoothness of movement Effect

Active Publication Date: 2021-09-03
CHONGQING UNIV +2
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AI Technical Summary

Problems solved by technology

This method belongs to a local path planning. If the robot only moves under this algorithm, although a good motion posture can be guaranteed, it needs to traverse too many nodes to reach the target point, and the efficiency is very low.

Method used

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  • Path optimization method based on dynamic window and redundant node filtering
  • Path optimization method based on dynamic window and redundant node filtering
  • Path optimization method based on dynamic window and redundant node filtering

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Embodiment Construction

[0044] The following describes in detail the embodiments of the present invention with reference to the accompanying drawings.

[0045] see Figure 1-3 , a path optimization method based on dynamic window and redundant node filtering, including the following steps:

[0046] S100: Use the existing grid map data set to determine the coordinate information of the starting position and target position of the movement, and mark the target node and obstacle node in the grid map; the map data set can be measured by manual measurement, remote sensing, It can be obtained through photogrammetry, satellite data, etc., and can also be obtained by repeatedly collecting map information in an unknown environment by operating a mobile robot.

[0047] S200: use A * The algorithm plans a global path, including the following steps:

[0048] S210: Construct and initialize two empty tables OpenList and CloseList, set the starting position as the current node and store it in the OpenList list; i...

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Abstract

The invention discloses a path optimization method based on a dynamic window and redundant node filtering, which comprises the following steps of determining coordinate information of a starting position and a target position of motion by utilizing an existing grid map data set, and marking a target node and an obstacle node in a grid map; planning a global path by using an A * algorithm; performing global optimization by using a global path planned by an A * algorithm, and filtering redundant nodes; and performing segmented local optimization on the optimized global path in combination with a dynamic window method to obtain a final global path. According to the invention, the combinatorial algorithm is used to reduce the single motion duration of the mobile robot and improve the smoothness of the motion path curve; and meanwhile, the problem of the robot in a static driving route process is solved, and a flexible obstacle avoidance function can be realized in a planned route section.

Description

technical field [0001] The invention relates to the field of motion planning in mobile robot technology, and more particularly relates to a path planning and optimization method applicable to mobile robots. Background technique [0002] As a technology that integrates multiple disciplines, robotics has been a hot topic of research for many years. Among them, path planning is a key technology in the research and development of mobile robot technology. Its purpose is to select a path that can move from the starting point to the end point in the task area by referring to a certain parameter index (such as the lowest cost, the shortest path selection, and the shortest computing time, etc.). Optimal or suboptimal obstacle avoidance paths. Path planning can be divided into global path planning based on complete area information understanding and local path planning based on partial area information understanding according to the robot's understanding level of work area informatio...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0217G05D1/0221G05D1/0223G05D1/0274Y02D30/70
Inventor 宋永端张聪毅谭力珲赖俊峰王赛宇张艳锴
Owner CHONGQING UNIV
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