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Mobile robot path planning method based on bidirectional crawler

A mobile robot, path planning technology, applied in the direction of instruments, non-electric variable control, two-dimensional position/channel control, etc., can solve problems such as long path length

Active Publication Date: 2022-01-28
WENZHOU UNIVERSITY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Although the crawler series method has a very outstanding performance in computing real-time performance, due to its basic characteristics of full stress, the resulting path length is relatively long

Method used

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  • Mobile robot path planning method based on bidirectional crawler
  • Mobile robot path planning method based on bidirectional crawler
  • Mobile robot path planning method based on bidirectional crawler

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0033] Build a robot mobility map to figure 1 Take the map shown as an example, where point A represents the starting point of the mobile robot’s movement, and point B represents the end point. The obstacle is simplified to a polygonal structure without a concave structure. The blue square in the figure represents the obstacle, and the red dotted line represents the optimal moving path .

[0034] First, the traditional crawler algorithm is used to plan the path of the mobile robot. The moving path from point A to point B is as follows: figure 2 As shown, the moving path from point B to point A is as follows image 3 As shown, the solid line with arrows in the figure represents the moving path of the mobile robot, and the dotted line represents the auxiliary line from each inflection point to the end point.

[0035] Then plan the path according to the bidirectional crawler-based mobile robot path planning method provided by the present invention, and the specific process is ...

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Abstract

The invention belongs to the technical field of mobile robot research, and particularly relates to a mobile robot path planning method based on bidirectional crawler. According to the method, a first moving path with a starting point as a starting point and a second moving path with an end point as a starting point are determined based on bidirectional crawler, and then the final moving path of a mobile robot is determined through comparison of the first moving path and the second moving path, wherein the first moving path and the second moving path are determined through the following steps that key points are determined through a crawler-based path planning method, then angle comparison is carried out on the basis of taking the starting point as an angular point, appropriate key points are selected, and the first moving path and the second moving path are obtained after the starting point, the determined key points and the end point are sequentially connected. According to the invention, the advantages and disadvantages of a crawler algorithm are integrated, a double-crawler mode is adopted, on the basis of reducing certain calculation advantages, a better moving path is obtained, and a reference is provided for a mobile robot path planning method.

Description

technical field [0001] The invention belongs to the technical field of mobile robot navigation, and in particular relates to a bidirectional crawler-based mobile robot path planning method. Background technique [0002] Mobile robots are widely used in all aspects of people's work and life. Logistics robots, security robots, government and enterprise service robots, inspection robots, teaching platform robots, etc. all require mobile robot technology as support. In practical applications, they can be used for home hygiene. Cleaning, motion realization of wheelchairs for the elderly, fire scene rescue, handling of factory materials or express delivery, etc., mobile robots have become current research hotspots. [0003] In the research field of mobile robots, path planning is an important research branch. Its purpose is to find an optimal barrier-free path for the mobile robot to reach the target state from the initial state including position and posture according to the eva...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0221
Inventor 孙玉冰郑钰彤
Owner WENZHOU UNIVERSITY
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