A Path Planning Method for Mobile Robots Based on Image Processing

A mobile robot and path planning technology, applied in the field of intelligent robots, can solve problems such as inability to guarantee collisions and poor flexibility, and achieve the effects of ensuring motion safety, improving operating efficiency, and simple methods

Active Publication Date: 2022-08-09
JILIN UNIV
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Problems solved by technology

[0005] Through the analysis and research of existing technologies, it can be found that in the research of path planning algorithms, the map formats that most algorithms can solve are grid maps, directed graphs and undirected graphs, which have poor flexibility.
At the same time, because the mobile robot has its own geometric shape, the research method that regards it as a particle in the research cannot guarantee that it will not collide with surrounding obstacles when it moves

Method used

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  • A Path Planning Method for Mobile Robots Based on Image Processing
  • A Path Planning Method for Mobile Robots Based on Image Processing
  • A Path Planning Method for Mobile Robots Based on Image Processing

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Embodiment Construction

[0068] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0069] Every pixel in the map image can participate in the operation, resulting in a huge amount of data and low efficiency of the algorithm. At the same time, considering the external geometric features of the mobile robot to avoid collision with objects in the surrounding environment during the movement, it is necessary to preprocess the image to obtain a safe reference path map.

[0070] The embodiment of the present invention dis...

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Abstract

The invention discloses a path planning method for a mobile robot based on image processing, comprising the following steps: S1. Preprocessing a map image: calculating the safety of the mobile robot and surrounding obstacles during the movement process based on the external geometric features of the mobile robot The distance s is set on the map image with the expansion point as the center and the safety distance s as the expansion radius to form a circular range to set a safety range, and mark the safety range; perform skeletal features on the marked map image Extraction to obtain a reference path map; S2. Obtaining an initial path; S3. Optimizing the initial path. The invention improves the flexibility of the algorithm, has high robustness and operation efficiency, and the obtained optimal path can ensure the motion safety of the mobile robot.

Description

technical field [0001] The invention relates to the technical field of intelligent robots, in particular to a path planning method for a mobile robot based on image processing. Background technique [0002] Mobile robot is an intelligent machine that can move continuously and autonomously in various environments. Its development has a significant impact on national defense, society, economy and science and technology, and has become a strategic research target in the national high-tech field. Path planning is an indispensable part of the mobile robot's behavior planning system. According to the map information of the surrounding environment, it obtains the optimal path through specific operations, so as to guide the mobile robot to complete the motion task with the minimum cost. Researching path planning methods is crucial for the research and development of mobile robots. [0003] In the research of path planning algorithm, the two most important links are map modeling and...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0214G05D1/0221G05D2201/02Y02T10/40G01C21/00G05D1/0274G05D1/0217G06T7/136G06T7/11G06T7/73G06T7/60G06T2207/20044
Inventor 崔岸梁添锰钰刘立源马耀辉续迎萍杨萌萌
Owner JILIN UNIV
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