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Robot path planning method, system, equipment and medium

A path planning and robot technology, applied in control/regulation systems, instruments, motor vehicles, etc., can solve the problems of poor target searchability, long time, and low efficiency of the RRT algorithm, so as to improve target searchability, reduce time and redundancy node, high efficiency effect

Pending Publication Date: 2022-03-01
CHONGQING INST OF GREEN & INTELLIGENT TECH CHINESE ACADEMY OF SCI
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  • Application Information

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Problems solved by technology

[0004] In view of the above-mentioned shortcomings of the prior art, the purpose of the present invention is to provide a robot path planning method, system, equipment and medium for solving the problems of poor target searchability, long time, many redundant nodes, and low efficiency of the RRT algorithm. technical problem

Method used

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  • Robot path planning method, system, equipment and medium
  • Robot path planning method, system, equipment and medium
  • Robot path planning method, system, equipment and medium

Examples

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Embodiment 1

[0064] see figure 1 , the robot path planning method provided by the embodiment of the present invention, the method includes:

[0065] S101: Obtain a starting position and a target position.

[0066] The starting position may be the starting point of the current robot or other target object, and the target position may be the destination of the robot or other target object.

[0067] Optionally, there may already be a path of a certain length before the starting position, and at this time, the position closest to the target position may be found on the known path, and used as the starting position (current position).

[0068] Optionally, the starting position and the target position are two points on a preset map.

[0069] S102: Determine several current positions between the initial position and the target position, and determine a planned path according to the initial position, each current position and the target position.

[0070] The planned path may start from the tar...

Embodiment 2

[0210] see Figure 11 , this embodiment provides a robot path planning system 1100, the system includes:

[0211] An acquisition module 1101, configured to acquire a starting position and a target position;

[0212] A planning module 1102, configured to determine several current positions between the starting position and the target position, and determine a planned path according to the starting position, each current position and the target position;

[0213] Wherein, the method for determining the current location includes,

[0214] Use the starting position as the current position to obtain the first passing position on the reference line, which is the line between the current position and the target position;

[0215] Obtain the first sampling position and the second sampling position of the current position, and determine the first reference distance and the second reference distance. The first sampling position and the second sampling position are respectively located...

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Abstract

The invention provides a robot path planning method, system and device and a medium, and the method comprises the steps: determining a first passing position on a reference connection line between a current position and a target position, obtaining a first sampling position and a second sampling position of the current position, and determining a second passing position; and if at least one of the first passing position and the second passing position meets the preset collision condition, taking the position meeting the preset collision condition as the next position, and repeatedly determining the current position until the current distance between the latest obtained current position and the target position is smaller than a preset distance threshold value. Determining each current position, determining a planning path according to the target position, each current position and the initial position, and determining the current position by comprehensively considering a second path position determined by the first sampling position and the second sampling position and a first path position in the target direction during robot path planning, so that the target searching performance is improved; the robot path planning time and redundant nodes are reduced, and the efficiency is high.

Description

technical field [0001] The present invention relates to the technical field of path planning, in particular to a robot path planning method, system, equipment and medium. Background technique [0002] The motion planning of the robot is an important issue in the field of robot research. By planning a path without obstacles for the robot between the preset initial position and the target position to be achieved, path planning is realized. [0003] Global path planning is a path search method combined with existing map information. Among them, the RRT (Rapidly-exploring Random Trees, based on rapid expansion random tree) algorithm is a more commonly used path search method, which uses a completely random search method. The direction of the path search is random and the time is uncertain. Sometimes the path generated by this method is not the optimal path, and there may be a risk of "detour". Moreover, the algorithm has poor target searchability, takes a lot of time, and is st...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0214G05D1/0221
Inventor 林远长曲永涛何国田刘东何玉泽尚明生廖俊
Owner CHONGQING INST OF GREEN & INTELLIGENT TECH CHINESE ACADEMY OF SCI
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