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Mobile robot path planning method and system

A mobile robot and path planning technology, applied in the field of intelligent robots, can solve problems such as the minimum planned path without path time, and achieve the effect of reducing the cost of path time and improving efficiency

Active Publication Date: 2021-10-19
NORTH CHINA ELECTRIC POWER UNIV (BAODING)
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  • Application Information

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Problems solved by technology

[0010] However, the existing research generally directly uses the path length as the optimization goal, that is, selects a motion path with the shortest path length, and the actual task often requires the shortest time. path planning method

Method used

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  • Mobile robot path planning method and system
  • Mobile robot path planning method and system

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Embodiment 1

[0035] Robot path planning algorithm is one of the core contents of mobile robot research. It started in the 1970s and has produced a large number of research results so far, making great contributions to the wide application of robots. Traditional path planning algorithms can be divided into node-based methods and sampling-based methods. The representative of the node-based method is the A* algorithm. The A* algorithm is an improvement to the Dijkstra algorithm. It introduces heuristic functions and constraints, and in each round of optimization search, it is necessary to calculate the corresponding value of each feasible solution in the global scope. The value of the heuristic function, and then select the feasible solution with the minimum heuristic function value in this round of search as the optimal solution of the current round, and then continue the next round of optimization search, and finally ensure that the global optimal path can be obtained The A* algorithm finds...

Embodiment 2

[0097] This embodiment is used to provide a mobile robot path planning system, such as Figure 7 As shown, the planning system includes:

[0098] The obtaining module M1 is used to obtain the operating constraints of the mobile robot; the operating constraints include the feasible area of ​​the mobile robot, the position of the starting point, the position of the target point, the step size, the search step size and the obstacles in the feasible area item information;

[0099] A feasible path generating module M2, configured to generate multiple feasible paths using the RRT* algorithm according to the operating constraints;

[0100] The planning module M3 is configured to calculate the path time cost of each feasible path by using the turning characteristic function, and select the feasible path with the smallest path time cost as the planned path of the mobile robot.

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Abstract

The invention relates to a mobile robot path planning method and system, and the method comprises the steps: generating a plurality of feasible paths through an RRT * algorithm according to the operation constraint condition of a mobile robot; calculating the path time cost of each feasible path by utilizing a turning characteristic function, and selecting the feasible path with the minimum path time cost as the planned path of the mobile robot, so that the planned path with the shortest time can be planned for the mobile robot, the path time cost of the actual task of the robot is reduced, and then the task execution efficiency of the mobile robot is improved.

Description

technical field [0001] The invention relates to the technical field of intelligent robots, in particular to a method and system for path planning of a mobile robot based on path time cost. Background technique [0002] With the rapid rise of artificial intelligence, mobile robots have not only achieved great success in space exploration, but also achieved major breakthroughs in areas such as driverless cars and service industries. One of the important manifestations of robot intelligence is to move autonomously without relying on human control, which is also the basic link for mobile robots to perform tasks, so autonomous navigation has become a hot research topic in the field of robotics. The autonomous navigation technology of mobile robots is decomposed into three classic problems by Lenonard et al.: [0003] (1) Where am I now? [0004] (2) Where am I going? [0005] (3) How do I go? [0006] The technical points involved in these three classic problems are: real-tim...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0214G05D1/0221G05D1/0289G05D1/0219
Inventor 王祝赵斌首云锋焦嵩鸣姚万业
Owner NORTH CHINA ELECTRIC POWER UNIV (BAODING)
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