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Mobile robot path planning method based on ray tracing

A mobile robot and path planning technology, applied in the field of mobile robots, can solve problems such as only considering continuity, limiting robot motion speed, reducing robot motion safety, etc., to achieve faster convergence speed, stable running time, and improved quality.

Pending Publication Date: 2022-03-25
SOUTHEAST UNIV
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Problems solved by technology

At present, there are many path planning algorithms, which can be divided into optimal algorithms and non-optimized algorithms according to whether the planning results are optimal. Generally speaking, the existing path planning algorithms have the following problems: The continuity of position changes does not consider the continuity of robot speed changes, which limits the robot's movement speed; ②The planned path may be very close to obstacles, which reduces the safety of robot movement

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  • Mobile robot path planning method based on ray tracing
  • Mobile robot path planning method based on ray tracing
  • Mobile robot path planning method based on ray tracing

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Embodiment Construction

[0066] The present invention will be further explained below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the following specific embodiments are only used to illustrate the present invention and are not intended to limit the scope of the present invention. It should be noted that the words "front", "rear", "left", "right", "upper" and "lower" used in the following description refer to the directions in the drawings, and the words "inner" and "outer ” refer to directions towards or away from the geometric center of a particular part, respectively.

[0067] A path planning algorithm for a mobile robot based on light propagation in this embodiment, as shown in Figure 4, first initializes the number of light lines emitted by the starting point, and expands the target point to cover a certain area so that Light can be irradiated more easily, thereby speeding up the convergence speed of the algorithm; then in the light propagat...

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Abstract

The invention discloses a mobile robot path planning method based on ray tracing. A collision-free path connecting an initial position and a target position of a robot is generated by tracking a propagation trajectory of rays. Firstly, light propagation in the real world is simulated, an original path connecting a starting point and a target point is obtained, then redundant track points are removed, all straight line segment paths are smoothly connected by means of a cubic Bezier curve, and finally a smooth collision-free path connecting the starting point and the target point is generated. The path planning algorithm is high in operation speed, can ensure that the movement speed of the robot always changes continuously, greatly enhances the movement stability and safety of the mobile robot, and is suitable for high-speed movement of the mobile robot.

Description

technical field [0001] The invention relates to the technical field of mobile robots, in particular to a path planning method for a mobile robot based on ray tracing. Background technique [0002] Path planning for mobile robots refers to planning a continuous collision-free path from a starting position to a target position from a known map. At present, there are many path planning algorithms, which can be divided into optimal algorithms and non-optimized algorithms according to whether the planning results are optimal. Generally speaking, the existing path planning algorithms have the following problems: The continuity of position changes does not consider the continuity of robot speed changes, which limits the robot's movement speed; ②The planned path may be very close to obstacles, which reduces the safety of robot movement. Contents of the invention [0003] In order to solve the above problems, the present invention discloses a method for path planning of a mobile r...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0223G05D1/0214G05D1/0221
Inventor 王晓腾甘亚辉房芳周波
Owner SOUTHEAST UNIV
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