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Robot optimal path planning method based on Boolean constraint

An optimal path planning and robotics technology, applied in the field of robotics, can solve problems such as inability to meet actual needs, achieve good application prospects, improve efficiency, and good versatility.

Active Publication Date: 2021-12-21
SHAANXI UNIV OF SCI & TECH
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Problems solved by technology

[0005] After years of research, the optimal path planning method for general task requirements has been relatively mature. However, with the increasing complexity of tasks, such as task requirements with Boolean constraints (Boolean constraints mainly include and, or, not three A description, the task requirement with Boolean constraints means that the robot’s path from the initial state to the goal state must pass through certain points to complete the task, select part of certain points to complete the task, and must avoid certain points). Optimal path planning, the optimal path planning method required by general tasks can no longer meet the actual needs

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  • Robot optimal path planning method based on Boolean constraint
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  • Robot optimal path planning method based on Boolean constraint

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Embodiment Construction

[0069] Below in conjunction with embodiment and accompanying drawing, invention will be further described.

[0070] refer to figure 1 , a robot optimal path planning method based on Boolean constraints, including the following steps:

[0071] Step 1: Divide the global environment of the robot, and write out the space set and its adjacency matrix;

[0072] In this embodiment, the global environment of the robot is as follows: figure 2 As shown, the global environment is divided into 28 spaces, and the set R={R 1 , R 2 ,...,R 28} means, such as image 3 shown;

[0073] The adjacency matrix W is a symmetric matrix of 28×8, if the space R i and space R j connected, and the distance between the two spaces is ω i，j , then W(i,j)=ω i，j , otherwise W(i, j)=∞, and W(i, i)=0, i=1, 2,..., 28; the distance between all adjacent spaces in this embodiment is 1, then Can be based on Figure 4 Write out the adjacency matrix W, where W(1,1)=0, W(1,3)=1, W(2,2)=0, W(2,3)=1, W(3,1)= ...

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Abstract

A robot optimal path planning method based on Boolean constraints comprises the steps that firstly, the global environment of a robot is divided, and a space set and an adjacent matrix of the space set are written; then Boolean constraint task requirements of the robot are input, and the adjacency matrix is updated according to the task requirements; the shortest distance between the tasks and a corresponding path are calculated and stored; an initial task sequence meeting Boolean constraint task requirements is randomly generated, and the shortest moving distance and a corresponding path of the initial task sequence are calculated; simulated annealing algorithm optimization is performed on the initial task sequence; and finally, the optimal task sequence, the shortest moving distance and the corresponding path are output. On the premise that the robot meets task requirements, the moving distance is shortest, the moving cost and time cost of the robot are reduced to a large extent, efficiency is improved, and the method has good application prospects.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a method for planning optimal paths of robots based on Boolean constraints. [0002] technical background [0003] With the advancement of science and technology and the development of society, the application of mobile robots is becoming more and more extensive, involving military, industrial, agricultural, family and other fields. The three core issues in the research field of robot path planning are robot positioning, task assignment, and path planning technology. Among them, path planning is the first condition for a mobile robot to avoid obstacles to reach the task target and complete the task content. For example: household service cleaning robots need reasonable path planning for the indoor environment to complete cleaning tasks; agricultural picking robots need path planning to walk between crops to complete picking tasks; industrial robots also need path planning to work i...

Claims

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Application Information

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IPC IPC(8): G01C21/34
CPCG01C21/3446
Inventor 何舟施威杰马子玥
Owner SHAANXI UNIV OF SCI & TECH
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