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Path planning method and device, equipment and storage medium

A path planning and location point technology, applied in the field of robotics, can solve the problems of low accuracy of path planning and need to be improved in rationality, and achieve the effect of improving accuracy and computing efficiency.

Active Publication Date: 2021-12-21
NANJING TIANSU AUTOMATION CONTROL SYST
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] In the related art, there are many methods for path planning, but the path planning accuracy of the method in the related art is not high, and the rationality needs to be improved

Method used

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  • Path planning method and device, equipment and storage medium
  • Path planning method and device, equipment and storage medium
  • Path planning method and device, equipment and storage medium

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Embodiment Construction

[0030] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, but not to limit the present invention. In addition, it should be noted that, for the convenience of description, only some structures related to the present invention are shown in the drawings but not all structures.

[0031] Figure 1a is a flow chart of a path planning method provided by an embodiment of the present invention, the method can be executed by a path planning device, the device can be implemented by software and / or hardware, and the device can be integrated in a robot, or also Can be integrated in cloud devices. The method is applied to scenarios for indoor optimal path planning, and specifically can be applied to transport scenarios or other scenarios that require path planning.

[0032] Such as Figure 1a As sh...

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Abstract

The embodiment of the invention provides a path planning method and device, equipment and a storage medium. The method comprises the following steps: determining a current position point of a robot in a map; determining the gravitation of the target point on the robot based on the optimal travelable distance between the current position point and the target point; determining the repulsive force of an obstacle to the robot, and determining the resultant force of the robot at the current position point based on the gravitation and the repulsive force; and improving an ant colony algorithm based on the resultant force, the normalized exponential function and an updating strategy of pheromones, and determining an optimal path between the current position and the target point in the map based on the improved ant colony algorithm. According to the technical scheme provided by the embodiment of the invention, the calculation efficiency can be improved, and the path planning precision can be improved.

Description

technical field [0001] The embodiments of the present invention relate to the technical field of robots, and in particular, to a path planning method, device, equipment, and storage medium. Background technique [0002] Path planning, obstacle avoidance, automatic navigation, robot control, etc. are the core functions of the robot. Among them, path planning determines whether the robot can safely reach the target point (the location of the destination) at the fastest speed, so it is very important. function part. [0003] In the related art, there are many methods for path planning, but the path planning accuracy of the methods in the related art is not high, and the rationality needs to be improved. Contents of the invention [0004] Embodiments of the present invention provide a path planning method, device, equipment, and storage medium, which can improve computing efficiency and accuracy of path planning. [0005] In a first aspect, an embodiment of the present inven...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0236G05D1/024G05D1/0242G05D1/0255G05D1/0257G05D1/0259G05D1/0223G05D1/0214G05D1/0221G05D1/028G05D1/0276
Inventor 陈高祥符扬马如明王伟江
Owner NANJING TIANSU AUTOMATION CONTROL SYST