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Improved a* algorithm for mobile robot based on wolf pack algorithm and artificial potential field

A technology of mobile robots and wolf pack algorithm, which is applied to instruments, motor vehicles, transportation and packaging, etc., can solve the problem of long search time and achieve the effect of improving search efficiency

Active Publication Date: 2022-04-22
HEBEI UNIV OF TECH +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The A* algorithm, also known as heuristic search, is a direct search method for solving the shortest path in a static road network, and its search time is relatively long; the wolf pack algorithm is a new heuristic algorithm born in recent years, with fast convergence speed, High precision, but it is easy to fall into local optimum

Method used

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  • Improved a* algorithm for mobile robot based on wolf pack algorithm and artificial potential field
  • Improved a* algorithm for mobile robot based on wolf pack algorithm and artificial potential field
  • Improved a* algorithm for mobile robot based on wolf pack algorithm and artificial potential field

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Embodiment 2

[0106] This embodiment provides a server, including a memory, a processor, and a computer program stored in the memory and operable on the processor, wherein, when the processor executes the computer program, the following The above-mentioned improved A* algorithm for mobile robots based on wolf pack algorithm and artificial potential field.

[0107] Such as figure 2 As shown, the server 800 includes a central processing unit (CPU) 801, which can be executed according to a program stored in a read-only memory (ROM) 802 or a program loaded from a storage part into a random access memory (RAM) 803 Various appropriate actions and treatments. In the random access memory 803, various programs and data necessary for system operation are also stored. The central storage unit 801 , the read-only memory 802 and the random access memory 803 are connected to each other through a bus 804 . An input / output (I / O) interface 805 is also connected to the bus 804 .

[0108] The following c...

Embodiment 3

[0111] This embodiment provides a computer-readable storage medium, the computer-readable storage medium has a computer program, and it is characterized in that, when the computer program is executed by a processor, the wolf pack algorithm and the artificial potential field based on the above-mentioned Improved A* Algorithm for Mobile Robots.

[0112] It should be noted that the computer-readable medium shown in the present invention may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. A computer readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to, electrical connections with one or more wires, portable computer diskettes, hard disks, random access memory (RAM), read-only memo...

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Abstract

The present application provides an improved A* algorithm for a mobile robot based on a wolf pack algorithm and an artificial potential field. The algorithm includes the following steps: creating a grid map; calculating the evaluation function of each second grid according to the A* algorithm; releasing artificial Wolves; artificial wolves include several artificial wolves composed of the first wolf group and the second wolf group; select the lowest evaluation function corresponding to the second grid from the second wolf group m One artificial wolf is used as the head wolf; the other artificial wolves are used as ordinary wolves; a repulsion field is applied to the first grid, so that the artificial wolf tends to seek the optimal direction away from obstacles when searching; according to the wolf group algorithm and the repulsion field, a number of Artificial wolf path, output the final path; the algorithm combines the A* algorithm with the wolf group algorithm to improve the search efficiency. At the same time, by applying a repulsive force field to the first grid, the artificial wolf tends to stay away from obstacles in the search and optimization process to avoid local optimization.

Description

technical field [0001] The present disclosure generally relates to the technical field of A* algorithm, and specifically relates to an improved A* algorithm for mobile robots based on wolf pack algorithm and artificial potential field. Background technique [0002] Path planning has been a key research direction since the birth of mobile robots. Path planning is to plan a collision-free path from the starting point to the target point in a given environment according to one or more evaluation indicators and conforms to the robot kinematics. The given environment can be either the external environment that has been constructed and stored in the robot's memory, or the external environment that is stored after the robot perceives the external environment and creates a map model. Commonly used indicators for path planning include the shortest distance, the shortest time, etc.; [0003] The A* algorithm, also known as heuristic search, is a direct search method for solving the ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0217G05D1/0221
Inventor 韩旭段书用陆文涛裴文良赵熙灼章霖鑫徐福田
Owner HEBEI UNIV OF TECH