Mobile robot path planning method based on hybrid strategy

Abstract

The invention discloses a mobile robot path planning method based on a hybrid strategy. The method comprises a starting point, a target point, the hybrid strategy, an initial planning path, a first optimization planning path and a second optimization planning path. The mixed strategy is decomposed into three stages of a weighted reconstruction strategy module, a three-point optimization strategy module and a unit circumscribed circle strategy module; the method comprises the following specific process steps: starting and initializing parameters; running a weighted reconstruction strategy module; operating a three-point optimization strategy module; operating a unit circumcircle strategy module; and ending and outputting a result. The length of the second optimization planning path is shorter than that of the original A * algorithm planning path, the area of the search area of the second optimization planning path is smaller than that of the search area of the original A * algorithm planning path, and the number of nodes of the second optimization planning path is smaller than that of nodes of the original A * algorithm planning path. The method is simple in concept and convenient to implement, reduces search areas, removes redundant nodes, shortens search time and adapts to actual requirements of the robot industry.

Description

technical field [0001] The invention relates to the technical field of mobile robot path planning, in particular to a mobile robot path planning method based on a hybrid strategy. Background technique [0002] Mobile robots are a comprehensive system that integrates environmental perception, dynamic decision-making and planning, behavior control and execution, etc. , convenient, comfortable and dynamic society to provide high-quality services, has been integrated into human society, become people's all-round partner, change human production, life and way of thinking, its application fields continue to expand and the number of uses continues to increase. The research on path planning of mobile robots has always been a research hotspot in academia and engineering. [0003] At present, the original A* algorithm is used for obstacle avoidance path planning in mobile robot path planning, and there is a lack of improved fusion strategies. There are problems such as large search a...

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Problems solved by technology

[0004] In order to overcome the problem of using the original A* algorithm for obstacle avoidance path planning in the existing mobile robot path planning, lack of improved fusion strategy, there are problems such as large search area, too many redundant nodes, many turning times, and long search time. Defects such as path length and reduced search efficiency; the present invention is based on the fusion strategy, first uses the weighted reconstruction strategy module for the estimated cost of the heuristic function in the A* algorithm, obtains the initial planning path, and reduces the search area; then uses three points for the initial planning path Optimize the strategy module, remove redundant nodes and reduce the number of turns, and obtain the first optimal planning path, but the path node appears on the edge of the obstacle; then use the unit circumscribed circle strategy module for the first optimal planning path, adjust the obstacle The path node on the edge of the object, obtain the second optimized planning path, and output

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