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A Path Optimization Method Based on Dynamic Window and Redundant Node Filtering

A technology of redundant nodes and dynamic windows, used in motor vehicles, transportation and packaging, control/regulation systems, etc., can solve problems such as low efficiency, and achieve improved safety and smoothness, more efficient movement, and smooth paths. Effect

Active Publication Date: 2022-08-09
迪比(重庆)智能科技研究院有限公司 +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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.

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  • A Path Optimization Method Based on Dynamic Window and Redundant Node Filtering
  • A Path Optimization Method Based on Dynamic Window and Redundant Node Filtering
  • A Path Optimization Method Based on Dynamic Window and Redundant Node Filtering

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Embodiment Construction

[0043] The embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0044] see Figure 1-3 , a path optimization method based on dynamic window and redundant node filtering, comprising the following steps:

[0045] S100: Using the existing grid map data set, 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; wherein the map data set can be measured by manual measurement, remote sensing measurement, It can be obtained by means of photogrammetry, satellite data, etc., or it can be obtained by repeatedly collecting map information in an unknown environment by operating a mobile robot.

[0046] S200: Utilize A * The algorithm plans a global path, including the following steps:

[0047] S210: Construct and initialize two empty tables OpenList and CloseList, set the starting position as the current node and store ...

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Abstract

The invention discloses a path optimization method based on dynamic window and redundant node filtering. target node and obstacle node; use A * The algorithm plans a global path; using A * The global path at the algorithm planning place is globally optimized to filter out redundant nodes; the optimized global path is segmented and locally optimized by combining with the dynamic window method, and the final global path is obtained. The invention uses the combined algorithm to reduce the single movement duration of the mobile robot, improves the smoothness of the movement path curve; meanwhile, improves the problem of the robot in the process of the static driving route, and can realize the flexible obstacle avoidance function in the planned path segment.

Description

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

Claims

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Application Information

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Patent Type & Authority Patents(China)
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 迪比(重庆)智能科技研究院有限公司