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Robot anti-collision path planning method

A path planning and anti-collision technology, applied to instruments, motor vehicles, vehicle position/route/height control, etc., can solve the problem of poor robot passability, and achieve the effect of great superiority and stable driving.

Pending Publication Date: 2022-03-18
INST OF INTELLIGENT MFG TECH JITRI
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Problems solved by technology

The present invention aims to solve the problem of poor passability of robots in practical application scenarios

Method used

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  • Robot anti-collision path planning method

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Embodiment

[0018] By studying the robot path planning model, the inventors found that the path obtained by the traditional path planning algorithm has the same problem: path planning based on obstacle avoidance, with the shortest path as the goal, the planned path is not in the middle of the road, but biased side, such as figure 1 , is the result of a typical path planning algorithm A*, it is very obvious that the path is close to the wall. This makes it easy for the robot to bump into obstacles when walking, especially when the robot is at a corner. This causes the position of the robot to drift, which in turn leads to inaccurate positioning of the robot. The larger the body size of the robot, the greater the chance of brushing against obstacles.

[0019] Therefore, in order to solve this problem, the present invention optimizes the traditional path planning algorithm, that is, the planned path is obtained first, and then the path is further optimized. The main idea is to first center...

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Abstract

The invention discloses a robot anti-collision path planning method, and the method comprises the steps: obtaining an original path generated between a first coordinate point and a second coordinate point, and the original path at least comprises two non-collinear line segments; segmenting the original path according to line segments; line segments obtained through segmentation are centered respectively, and Bezier curves are constructed at the joints of the adjacent line segments respectively; and taking a continuity line formed by the line segments and the Bezier curve constructed between the line segments as a planned path. The continuous smooth aligned robot path planning method has great practical use value, can be used for navigation of the robot in a complex scene, is stable in driving and does not collide with obstacles, and particularly has great superiority when the robot passes through a narrow aisle and a narrow door.

Description

technical field [0001] The invention belongs to the technical field of robot positioning, and in particular relates to a robot anti-collision path planning method. Background technique [0002] With the development of artificial intelligence, mobile robots are widely used in various fields. Path planning is to plan an optimal collision-free path for a mobile robot in the environment space according to an optimization goal, and guide the robot from the initial point to the target point. Scholars at home and abroad have done a lot of research on path planning and proposed various path planning algorithms. Commonly used traditional path planning algorithms include A*, Dijkstra, RRT*, etc. In the actual robot application environment, the inventors found that when the robot moves based on the path obtained by traditional path planning, the problem of position drift in the positioning process will occur. Contents of the invention [0003] The present invention aims at the prob...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0217G05D1/0221
Inventor 杭小树骆敏舟
Owner INST OF INTELLIGENT MFG TECH JITRI
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