An optimal path planning method for robots based on Boolean constraints

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 the level of automation in production and life, and expand the effect of application fields

Active Publication Date: 2022-07-01
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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  • An optimal path planning method for robots based on Boolean constraints
  • An optimal path planning method for robots based on Boolean constraints
  • An optimal path planning method for robots based on Boolean constraints

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[0069] The invention will be further described below with reference to the embodiments and accompanying drawings.

[0070] refer to figure 1 , a Boolean constraint-based optimal path planning method for robots, 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] The global environment of the robot in this embodiment 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, as image 3 shown;

[0073] The adjacency matrix W is a 28 × 8 symmetric matrix, if the space R i and the 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; in this embodiment, the distance between all adjacent spaces is 1, then according to Figure 4 Write 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

An optimal path planning method for robots based on Boolean constraints. First, the global environment of the robot is divided, and the space set and its adjacency matrix are written; then the Boolean constraint task requirements of the robot are input, and the adjacency matrix is ​​updated according to the task requirements; and then the task is calculated. The shortest distance and the corresponding path between them are stored; an initial task sequence that meets the requirements of the Boolean constraint task is randomly generated, and its shortest moving distance and its corresponding path are calculated; then the initial task sequence is optimized by simulated annealing algorithm; the final output The optimal task sequence, the shortest moving distance and its corresponding path; the invention makes the robot move the shortest distance on the premise of meeting the task requirements, greatly reduces the moving cost and time cost of the robot, improves the efficiency, and has a good application prospect.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a Boolean constraint-based optimal path planning method for robots. [0002] technical background [0003] With the advancement of science and technology and the development of society, the application of mobile robots has become more and more extensive, involving military, industrial, agricultural, family and other fields. The three core problems in the field of robot path planning research are robot positioning, task assignment and path planning technology. Among them, path planning is the primary condition for mobile robots to avoid obstacles to reach the task goal and complete the task content. For example: home service cleaning robots need reasonable path planning for the indoor environment to complete cleaning tasks; agricultural picking robots need path planning to travel between crops to complete picking tasks; industrial robots also need path planning to work in shared wor...

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Application Information

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Patent Type & Authority Patents(China)
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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