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Proportional guidance method and artificial potential field method combined path planning method suitable for dynamic target tracking

An artificial potential field method and proportional guidance technology, which is applied in the direction of motor vehicles, non-electric variable control, two-dimensional position/channel control, etc., can solve the problems of not considering the need for obstacle avoidance and low tracking efficiency, and achieve high engineering Effect of application value, improvement of tracking efficiency, and improvement of security

Pending Publication Date: 2021-12-07
HARBIN INST OF TECH
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Problems solved by technology

[0006] In view of the above problems, the present invention proposes a path planning method that combines the proportional guidance method and the artificial potential field method suitable for dynamic target tracking, to solve the problem of not considering the dynamic target tracking process in the existing path planning methods. The problem of low tracking efficiency due to obstacle avoidance requirements

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  • Proportional guidance method and artificial potential field method combined path planning method suitable for dynamic target tracking
  • Proportional guidance method and artificial potential field method combined path planning method suitable for dynamic target tracking
  • Proportional guidance method and artificial potential field method combined path planning method suitable for dynamic target tracking

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specific Embodiment approach 1

[0072] Step 1: Obtain the location information of the target to be tracked, determine the starting point and end point of the path planning of the mobile robot and initialize it;

[0073] The mobile robot establishes a plane coordinate system and obtains the position information of the target and itself and the position information of obstacles in the plane with high precision in real time through the equipped computing unit, visual camera, laser radar and other sensors;

[0074] Step 2: Calculate the expected movement direction of the robot based on the proportional guidance method according to the robot's own position and target position information at the current moment and the previous moment:

[0075] Let the target position acquired by the robot at the current moment be (x t1 ,y t1 ), the target position at the last moment is (x t0 ,y t0 ), the robot position at the current moment is (x 1 ,y 1 ), the position of the robot at the last moment is (x 0 ,y 0 ). Then a...

specific Embodiment approach 2

[0116] This embodiment is a numerical example description of a path planning method that combines the proportional guidance method and the artificial potential field method suitable for dynamic target tracking. For the tracking task of the mobile robot to the target, the design simulation example and algorithm parameters are as follows: Among them, the obstacle position is a number of obstacle points randomly selected in the 100×100 map, the initial coordinate of the target is (0, 80), and the acceleration is 0.2m / s -2 Perform uniformly accelerated linear motion along the positive direction of the x-axis, the initial coordinates of the robot are (0, 0); the proportional guidance coefficient is K c =6; artificial potential field gravitational gain coefficient K a =1, repulsion gain coefficient K r =15, the range of repulsive force p 0 =2m, to overcome the target unreachable adjustment coefficient n * = 3; select step size l a = 0.5m. When the distance between the robot a...

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Abstract

The invention discloses a path planning method suitable for dynamic target tracking and combining a proportional guidance method and an artificial potential field method, and relates to the technical field of mobile robot path planning. The method is used for solving the problem that the tracking efficiency is not high due to the fact that the obstacle avoidance requirement in the dynamic target tracking process is not considered in an existing path planning method. The method comprises the steps: according to the positions of a mobile robot, acquiring a to-be-tracked target and an obstacle, the first movement speed expected direction of each step of the mobile robot through calculation based on a proportional guidance method; calculating and obtaining a second movement speed expected direction of each step of the mobile robot based on an artificial potential field method; performing fusing computing on the first movement speed expected direction and the second movement speed expected direction to obtain the actual movement direction of each step of the mobile robot; and dynamically updating the planned path according to the path planning step length and the actual motion direction. Therefore, the target tracking efficiency is improved, meanwhile, the good obstacle avoidance performance is guaranteed, and the method has the high engineering application value.

Description

technical field [0001] The invention relates to the technical field of path planning for a mobile robot, in particular to a path planning method that combines a proportional guidance method suitable for dynamic target tracking and an artificial potential field method. Background technique [0002] Path planning means that the mobile robot finds a path from the initial position to the target position (the target position can be dynamically changing) optimal path method. General path planning includes three parts: one is the construction of the map environment, that is, the sensor perceives the surrounding operating environment, obtains the position and size of obstacles, and expresses them in mathematical form to generate a map environment; the other is the generation of feasible paths, that is, according to a certain The rules complete the exploration of the map environment and generate a feasible path that meets the requirements; the third is the optimization of the planne...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0217G05D1/0223G05D1/0246G05D1/0257
Inventor 张立宪李云鹏蔡博翁睿
Owner HARBIN INST OF TECH
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