694 results about "Robot path planning" patented technology

The invention discloses a logistics robot path planning method based on multi-modal perception, and relates to the technical field of robot path planning. Laser radar, visual camera and IMU data are fused, and environment state feature vectors are generated through multi-modal data synchronization and space-time alignment; the method comprises the following steps: analyzing environmental semantics by using models such as PointPill and YOLOv8, extracting dynamic characteristics, and identifying obstacles; constructing a space-time risk field, searching a path by a space-time algorithm, converting path points into a continuous trajectory, and optimizing the continuous trajectory; deviation is evaluated in real time, dynamic re-planning is triggered, and multi-robot cooperation and environment semantic understanding are included. Through multi-mode perception fusion, hierarchical planning, multi-target optimization and a cooperation mechanism, the obstacle detection accuracy and the obstacle avoidance success rate are improved, the path planning time is shortened, the energy consumption is reduced, the multi-robot conflict is reduced, the task efficiency is improved, the environment semantic understanding and task adaptive ability is enhanced, and the method is suitable for scenes such as intelligent storage and the like and has wide application prospects. The automation level is improved.

The invention provides a teaching-free welding robot path planning system based on visual autonomous learning, and relates to the technical field of industrial welding, and the teaching-free welding robot path planning system comprises a pose compensation module which is used for arranging three infrared reflective mark points on the surface of a clamp base in an L shape, collecting original point clouds of the mark points and a workpiece by using a stereo camera, and preprocessing the point clouds; generating a pose compensation matrix based on the offset of the actual coordinate and the theoretical coordinate of the mark point, and outputting a de-noising point cloud data set and a compensation matrix; and the pose correction module is used for fitting a workpiece plane equation by adopting a random sampling consistency algorithm on the basis of the de-noised point cloud data set, acting a pose compensation matrix on the workpiece plane equation, correcting a pose error caused by clamp drifting, calculating a welding seam track end point coordinate and outputting a corrected welding seam pose parameter and a scanning pose instruction. According to the method, clamp drift can be compensated, weld joint poses can be corrected, three-dimensional features are extracted, a collision-free path is planned, and the welding precision, efficiency and automation degree are improved.

The invention relates to the technical field of robot path planning, and discloses a robot path planning method based on reinforcement learning. The method comprises the following steps: acquiring environment depth information and an obstacle movement track through a multi-sensor array, constructing a dynamic environment sensing network, and generating an environment state tensor under space-time constraint; building a hierarchical reinforcement learning framework, and optimizing the motion track of the robot in stages by adopting a strategy gradient algorithm to obtain an initial path strategy; designing a reward function calculation model based on an attention mechanism, and accounting an action value in real time according to an environment state tensor; deploying a distributed experience playback buffer pool, and performing priority sampling and track fragment recombination on historical decision data; and establishing a strategy iterative optimization mechanism, and searching and dynamically correcting an initial path strategy by utilizing a Monte Carlo tree. The method can accurately adapt to the dynamic environment, optimize the path decision efficiency, enhance the adaptability and reliability of robot path planning, and is suitable for various robot autonomous operation scenes.

The invention discloses a seabed tracked robot path planning method and system based on reinforcement learning, and the method comprises the steps: obtaining environment data in real time through multiple sensors, extracting submarine topography three-dimensional features, obstacle distribution and ocean current dynamic parameters in combination with a neural network, and carrying out the combined feature extraction; establishing a seabed environment simulation model, and synthesizing various landform training data by using an adversarial generation technology; a hierarchical reinforcement learning framework is designed, a global layer collaboratively optimizes a long-distance path through a distributed agent, a local layer designs a high-frequency control strategy, and the global and local strategies realize multi-dimensional collaborative optimization through a dynamic weight adjustment mechanism; model parameters in a dynamic environment are updated in real time through an online optimization module, and a simulation strategy is quickly deployed to an entity robot through transfer learning. According to the invention, a neural network feature extraction and multi-level reinforcement learning collaborative autonomous decision-making system is constructed, and a high-reliability and low-energy-consumption autonomous operation solution is provided for a deep sea operation scene.

The invention relates to the technical field of path planning, and discloses a robot path planning method, which comprises the following steps that a hybrid cost map is constructed, and the hybrid cost map comprises a static obstacle field, a dynamic obstacle probability prediction field and a terrain energy consumption field; constructing an anisotropic heuristic function, and searching on the mixed cost map to obtain an initial path; parameterizing the initial path into a group of piecewise polynomial curves, constructing a joint optimization target which takes the total curvature, the piecewise polynomial curves and the space-time overlapping integral of a dynamic obstacle probability prediction field, and performing trajectory optimization under the condition of meeting the kinematics constraint of the robot to obtain a smooth space-time trajectory; when the task is executed, the information divergence is continuously calculated, and when the information divergence exceeds a preset threshold value, the current state of the robot serves as a new starting point, and the complete path planning process is executed again. According to the method, the future collision risk is prospectively avoided, the energy consumption of the robot is considered, and the comprehensive quality of the path is improved from the source.

The invention belongs to the technical field of robot navigation, and discloses a robot path planning method based on a graph neural network, through causal perception dynamic graph construction and AST-GNN training, a causal relationship, such as pedestrian steering-path change, of obstacle movement is excavated, extreme scene features are learned in combination with adversarial training, and the path planning precision is improved. Therefore, when the robot is in an emergency scene (such as object falling and pedestrian sharp turning), the obstacle movement pre-judgment accuracy is improved, the path re-planning response speed is increased, the collision risk is greatly reduced, and the operation safety in a complex dynamic environment is ensured; a block chain alliance chain and an intelligent contract mechanism are adopted, path data credibility is guaranteed through ECC encryption, a PBFT algorithm rapidly reaches a consensus, an intelligent contract automatically allocates priorities, such as emergency task priority, and a path optimized through differential geometry is combined, so that the path conflict rate of multiple robots in dense scenes such as storage and venues is remarkably reduced.

The invention discloses a ship plane segmented welding multi-robot path planning system based on visual inspection, and relates to the technical field of ship manufacturing, the ship plane segmented welding multi-robot path planning system comprises a multispectral visual inspection module which is mounted on a portal frame and comprises a laser scanning sensor and an infrared thermal imager, the system is used for collecting three-dimensional point cloud and temperature distribution data of ship plane segments in real time. According to the ship plane segmented welding multi-robot path planning system based on visual inspection, the problem of path planning misalignment caused by assembly errors, thermal deformation and complex working conditions in large ship plane segmented welding is fundamentally solved through a multispectral visual real-time perception and material self-adaption dynamic correction mechanism. A composite correction vector and space-time grid collaborative pre-judgment technology is adopted, the welding seam track precision is effectively improved, it is ensured that the weld leg size strictly reaches the standard in the high-difficulty processes such as wrap angle welding and vertical position welding of the maximum-size workpiece, the defects such as air holes and cracks are eliminated, and the rework rate and the quality risk are greatly reduced.

The invention discloses a cable trench inspection robot path planning method and device and a medium, a cable trench three-dimensional semantic map is constructed through multi-sensor fusion, and a laser radar and a depth camera are combined to accurately identify the spatial distribution of a cable support, a suspension cable and an obstacle. An improved directional path search algorithm is adopted, firewall passing sequential logic and lifting platform kinematics constraints are integrated, and a multi-mode inspection path is generated. The environment change is sensed in real time in the inspection process, the path is adjusted online through a dynamic path optimization engine, a planning strategy is iteratively optimized based on historical data, a digital twin system is introduced to realize path pre-verification, and the firewall interaction efficiency and the exception handling capacity are optimized by adopting reinforcement learning. According to the invention, the technical problems of poor real-time performance of path planning and low reliability of facility interaction in a complex cable trench environment are solved, and the inspection efficiency and safety are significantly improved.

The invention discloses a welding robot path planning system cooperating with industrial vision and collision detection, and relates to the technical field of robot automatic welding, the welding robot path planning system comprises an upper computer, the upper computer is in communication connection with the following modules: an environment sensing module used for collecting welding environment information in real time, comprising three-dimensional point cloud data of a workpiece and obstacle information; and the data processing and fusion module is used for fusing the visual identification result and the obstacle detection data. By integrating industrial visual recognition and collision detection technologies, the dynamic change of the welding environment can be sensed in real time, an accurate environment model is constructed based on three-dimensional point cloud data, compared with a traditional welding robot with a preset path, the welding track can be dynamically adjusted, welding defects caused by environment interference are avoided, and meanwhile the welding efficiency is improved. In combination with an assembly error compensation mechanism, the deviation between a theoretical model and an actual workpiece can be corrected, the welding position precision is ensured, and the high-precision ship manufacturing requirement is met.

The invention discloses an artificial intelligence robot path planning method and system, and the method comprises the steps: 1, carrying out the comprehensive perception of an environment geometric structure, object semantics and dynamic obstacles, eliminating scene differences, and further constructing the topological graph representation of an environment; 2, pre-training a path planning model, designing a scene context encoder, encoding a scene specific rule into a low-dimensional vector, and outputting a scene context code and updated planning model parameters to provide a planning capability adapted to a new scene for the step 3; 3, dynamically adjusting a track according to real-time sensor data by adopting a hierarchical decision-making architecture; step 2, recording success / failure path segments in the new scene, regularly updating a local planning module, regularly feeding back empirical data in the new scene to the step 2, and triggering a conservative obstacle avoidance mode when the confidence coefficient is lower than a threshold value; and 4, constructing a quantitative evaluation system, building an automatic test platform, simulating diversified scenes and dynamic interference, and automatically generating a test case.

The invention discloses a robot path planning method based on an artificial mouse travel algorithm. The method comprises the following steps: constructing a map; the method comprises the steps of parameter setting, initialization, initial path fitness evaluation, global search, local search, new path evaluation and local enhancement search, a dynamic adaptive search radius strategy is used for dynamically adjusting a search range C, and when an exploration-development switching threshold value E is larger than 1, namely Egt; the method comprises the following steps: 1, starting global search by adopting a dual-mode hybrid strategy, Elt; the method comprises the following steps: 1, starting local search, adopting an adaptive probability Levy flight or small-range disturbance strategy, introducing a local search enhancement module, carrying out refined search on a current global optimal path Xbest through a simplex method Nelder-Mead, and evaluating the fitness of the optimal path of iteration each time through the algorithm; and outputting an optimal path sequence according to the fitness value of the recorded optimal path. The method has the characteristics of improving the search capability, obtaining the optimal path and the like.

The invention discloses a robot dog inspection path intelligent planning and dynamic adjustment method, system and device and a medium, and belongs to the technical field of robot path planning, and the method comprises the steps: calculating a task emergency degree index according to a weight coefficient of an inspection point and a time constraint, and determining a task priority; constructing a hierarchical electronic map containing the terrain difficulty coefficient and the moving cost; performing global path planning through a comprehensive cost function by adopting an A star algorithm; environment information is collected in real time through multiple sensors, and the dynamic obstacle layer is updated; performing real-time trajectory optimization by adopting a local path planning mode; selecting local path correction or global path re-planning according to the path execution state score; energy needed for completing the remaining tasks is predicted, and a charging path is planned when necessary. According to the invention, multi-target adaptive optimization of path planning is realized, a coordination mechanism of global planning and local adjustment is established, and the execution efficiency and reliability of inspection tasks are improved.

The invention discloses an outdoor robot path planning method based on improved bidirectional A * and DWA algorithms. The method comprises the following steps: step 1, A * algorithm improvement; step 2, DWA algorithm improvement; step 3, algorithm fusion; step 4, path planning; the dynamic weight DOMW strategy is introduced into the A * algorithm to optimize a heuristic function, multiple factors are comprehensively considered, path planning is more reasonable, the algorithm calculation amount and search time are reduced by removing redundant nodes, the algorithm efficiency is improved, a bidirectional search mechanism is adopted, and the algorithm efficiency is improved. The search efficiency is improved, the search space is reduced, a local optimal solution is avoided, the robustness of the algorithm is enhanced, the path is smoothed by adopting a Bezier curve optimization strategy, so that the path meets the actual motion requirement of the robot, the damage to hardware is reduced, and the attractiveness and readability of the path are improved; by optimizing a DWA algorithm trajectory evaluation function and speed space constraints, the collision risk is reduced, and local obstacle avoidance and operation stability are improved.

The invention provides a robot intelligent path planning method based on K-value adaptive multi-algorithm cooperation, and belongs to the field of robot path planning. The robot path planning method mainly comprises the following steps: preprocessing an environment map, and constructing a three-layer data structure of a quadtree, a Voronoi graph and a connected graph; generating an initial path based on an improved fast extension random tree algorithm, and extracting key points; establishing a K value evaluation system including five dimensions of obstacle density, local complexity, channel characteristics, path curvature and topology complexity, and realizing accurate quantification of the environment; carrying out adaptive region division based on the K value, and dividing the environment into an open region, a narrow channel region and an obstacle dense region; aiming at the characteristics of different regions, an improved bidirectional A algorithm and an improved fast expansion random tree algorithm are respectively adopted to carry out collaborative planning; and finally, smoothing the path through a Bezier curve. According to the method, the quality and the planning efficiency of path planning in a complex environment can be improved, and higher robustness is achieved.

The invention discloses a mobile robot path planning method and system based on a circular trajectory control obstacle function, and aims to realize trajectory smooth control in an obstacle avoidance process. Firstly, an envelope circle is used for modeling an obstacle, an actual boundary is approached in a continuous and simple geometric form, and the calculation complexity of collision detection is reduced. Secondly, designing a control obstacle function based on a circular trajectory, constructing a derivable constraint in combination with a geometrical relationship between a tangent line and an obstacle boundary, and achieving trajectory smoothing, reducing speed fluctuation and prolonging the service life of an execution mechanism while guaranteeing a safe distance. For disturbance caused by factors such as ground unevenness, historical data are learned by using a Gaussian process, the disturbance trend is predicted in real time, and the motion stability is improved. And finally, through nonlinear optimization solution, generating control input with safety, continuity and disturbance adaptive capability. According to the method, geometric modeling, safety constraint, disturbance prediction and a dynamic adjustment mechanism are fused, and the safety and adaptability of robot path planning are remarkably enhanced.

The invention relates to a robot path planning method based on multi-sensor fusion and free space topology composition, and belongs to the technical field of robot autonomous navigation. The method comprises the following steps: firstly, fusing laser radar and millimeter wave radar data, constructing multi-modal point cloud data, extracting a three-dimensional obstacle boundary by combining depth and normal vector mutation features, and generating a three-dimensional obstacle map and a free region tree; according to the constructed space model, factors such as energy consumption, dynamic obstacles, path smoothness and the like are integrated, target selection weights are dynamically regulated and controlled, and self-adaptive screening of intermediate navigation targets is achieved. And based on the intermediate navigation target, generating a safe trajectory satisfying dynamic constraints by adopting geometric-dynamic dual-mode fusion modeling, and enhancing the feasibility and robustness of the trajectory through trajectory envelope optimization and pre-execution fault-tolerant control. The method can be widely applied to autonomous navigation systems such as mobile robots and unmanned vehicles, and has good environment adaptability and path execution stability.

The invention relates to a quadruped robot path planning method fusing visual semantic information and a laser radar. The method comprises the following steps: acquiring environment data, wherein the environment data comprises key ground semantic information, a depth image and original laser radar point cloud information; converting the key ground semantic information into laser radar key ground semantic point cloud information based on the depth image, and performing spatial fusion on the laser radar key ground semantic point cloud information and original laser radar point cloud information to obtain multi-source point cloud fusion information under a unified reference system; the multi-source point cloud fusion information is preprocessed, and non-ground interference points are filtered out; constructing a semantic enhanced local path planning model based on a semantic penalty term and a dynamic window path planning algorithm; on the basis of the feasible speed of the quadruped robot, the preprocessed multi-source point cloud fusion information and a semantic enhanced local path planning model, feasible trajectory selection is carried out, and an optimal obstacle avoidance planning path is determined. And the navigation safety and the task execution efficiency of the robot in a high-risk industrial environment are remarkably improved.

The invention relates to the technical field of robot automatic control, in particular to a storage robot path planning method based on reinforcement learning, and the method comprises the steps: S1, obtaining the current state information of a target storage robot; s2, after the current state information is constructed into a time sequence state sequence, the time sequence state sequence is input into a preset path planning model, action information is output, the target storage robot is controlled to execute the action information, and the path planning model is constructed by combining a TD3 algorithm, an LSTM network, a multi-head attention mechanism and an HER experience playback mechanism; and S3, iteratively circulating S1 to S2 until the target storage robot reaches the target position, and completing the path planning of the target storage robot. According to the invention, the path planning method of the storage robot can be realized, so that the storage robot can efficiently and safely complete tasks in a complex environment.

The invention provides a photovoltaic power station cleaning robot path planning method, medium and system, and belongs to the technical field of photovoltaic power station operation and maintaining.The photovoltaic power station cleaning robot path planning method includes the steps that firstly, a photovoltaic panel grid division model is established, and stain distribution information is obtained through the image processing technology to construct a stain distribution matrix; secondly, calculating a cleaning water demand matrix based on stain distribution, and meanwhile, considering an influence relationship among vertical column grid units; determining the cleaning duration by combining the efficiency of the cleaning device; constructing a robot energy consumption model; calculating an optimal cleaning path by applying a resource optimization distribution function; integrating the environmental parameters and inputting the environmental parameters into a photovoltaic cleaning neural network model to predict the actual cleaning difficulty; a cleaning strategy is dynamically adjusted accordingly; and executing the final path and recording data to update the related model. According to the method, through real-time sensing and analysis of the stain distribution characteristics, intelligence of path planning of the cleaning robot is realized, and the technical problem that the cleaning robot cannot perform intelligent path planning according to the surface stain distribution characteristics of the photovoltaic panel is solved.

The invention provides a concrete construction intelligent auxiliary robot path planning method and system based on Beidou positioning, and belongs to the technical field of robot path planning. In the scheme, robot pose information and construction environment information are collected through a Beidou high-precision positioning receiver, an inertial navigation unit (IMU), a laser radar and a depth camera; processing and fusing the multi-source heterogeneous data to generate high-precision pose information and an environment map; based on the fused data, analyzing the shape features of the construction area, and identifying the boundary of the construction area and the special structure in the construction area; and generating a global path according to the shape characteristics of the construction area and concrete characteristics, and performing concrete construction by the robot according to the global path. Therefore, by utilizing the positioning information provided by the Beidou high-precision positioning receiver and combining the IMU, the possible problems of the Beidou signal in a complex construction environment can be effectively compensated, and the stable, continuous and high-precision positioning of the robot in a construction area with a complex shape is realized.

The invention discloses a mechanical arm path planning method and system based on self-adaptive ellipsoid sampling, and the method combines ellipsoid contraction sampling and dynamic step length adjustment, and uniformly samples in an ellipsoid and eliminates collision points by constructing an ellipsoid sampling domain taking a connecting line of a starting point and an end point as a main axis; meanwhile, the expansion step length is adaptively adjusted according to the local obstacle density, and the ellipsoid is dynamically shrunk and expanded in the searching process so as to continuously focus the feasible channel. After an initial path is obtained, path smoothing optimization is carried out by adopting a non-uniform B spline guided by an ellipsoid, and the curvature of the path and the safety distance between the path and an obstacle are comprehensively considered. Verification of the method in a typical complex environment shows that the planning efficiency and the success rate can be remarkably improved, the path smoothness and the safety distance are considered at the same time, and the method is suitable for mechanical arm online obstacle avoidance path planning in the real-time complex environment.

The invention relates to the technical field of intelligent mobile robot path planning, in particular to a dynamic sensing path planning method for a mobile robot in an unknown environment. According to the method, an environment complexity model is established based on the obstacle density and the dynamic activity, and map partition and obstacle avoidance judgment are adaptively adjusted according to the environment complexity model; carrying out incremental updating on the near, middle and far sub-regions based on the point cloud similarity; extracting contours of the obstacle point clouds and carrying out topological optimization; dynamic candidate points are identified through double marking of rays and scanning points, and collision time is predicted and estimated in combination with spatial clustering and trajectory; and according to the collision time, hierarchical obstacle avoidance and local or global re-planning are implemented, and a repaired path is smoothed. According to the method, the path planning efficiency and the real-time obstacle avoidance capability of the mobile robot in a dynamic complex environment are remarkably improved, the consumption of computing resources is reduced, and the method is suitable for application scenes needing high dynamic response, such as warehouse logistics and unmanned driving.

The invention belongs to the technical field of inspection robot systems, and particularly relates to an inspection robot path planning method and system.The visual semantic perception module collects an industrial environment image through a top industrial camera, after graying and Gaussian filtering preprocessing, feature points are detected and matched through an ORB algorithm, and a path planning result is obtained; in combination with an illumination self-adaptive threshold screening mechanism, mismatching points are eliminated, semantics are marked, and a semantic feature map is constructed; the initial path planning module generates an initial path through a semantic cost-containing A * algorithm based on the map; the dynamic obstacle avoidance module captures a moving obstacle by using a visual sensor, and predicts a trajectory through Kalman filtering; the path optimization module combines an initial path and an obstacle track, optimizes the path by using quadratic programming of a fusion curvature constraint and an energy consumption model, and corrects positioning by fusing vision and IMU data through a dynamic weight fusion algorithm; and the execution feedback module generates an instruction according to the optimized path, re-triggers path optimization, forms a closed loop, and ensures the inspection stability.

The invention discloses a path planning method for a palletizing robot based on a multi-path convolutional neural network, and relates to the technical field of convolutional neural networks, and the method comprises the steps: employing the three-source data of a quality inspection report image, a damaged video and a microscopic image, extracting features through a parallel convolutional neural network, generating a dynamic maximum curvature constraint value after the fusion, and obtaining the path planning of the palletizing robot. And self-adaptive path planning of material characteristics is realized. And nodes conforming to curvature constraint are screened based on a probability route map (PRM) to generate a track, and the vibration spectrum energy of the mechanical arm is monitored in real time. When vibration exceeds a dynamic safety threshold value, subsequent path constraint is tightened in real time through a curvature penalty factor, and the damage risk is reduced by 90%; a closed loop of material analysis, path generation, vibration feedback and parameter correction is established, and balance of safety and efficiency is achieved in a high-speed stacking scene.

The invention discloses a thermal power plant inspection robot path planning method, device and equipment and a storage medium, and the method comprises the steps: carrying out the semantic analysis and information extraction of an inspection task instruction, an equipment document and a historical inspection log through a large language model; obtaining a semantic importance score, a perception modal demand, recommended residence time and a shooting angle of each inspection target; establishing a multi-target path optimization model based on an improved ant colony optimization algorithm, and inputting the semantic importance score, the perception modal demand, the recommended residence time and the shooting angle into the multi-target path optimization model to obtain a joint scheduling sequence; the thermal power plant inspection robot is controlled to execute the joint scheduling sequence to perform autonomous navigation and perception tasks, the current path planning is adjusted according to the task completion condition, the intelligence, autonomy and adaptability level of the inspection robot can be remarkably improved, and the speed and efficiency of path planning of the thermal power plant inspection robot are improved.

The invention relates to the technical field of robot path planning, and provides a walking robot path planning method and system, and the method comprises the steps: obtaining the environment parameters of a target region, constructing a multi-dimensional energy consumption map, carrying out the marching resistance analysis, obtaining a risk grading label, carrying out the path screening of the target region according to the risk grading label, and obtaining the path of the target region. After the path candidate set is obtained, map generation is carried out, and a path weight map is obtained; and acquiring electric energy stability distribution of the walking robot, performing path correction on the path weight map according to the electric energy stability distribution to obtain a path fitting map, and analyzing an optimal path output result according to the path fitting map and the path candidate set. Through the technical means of environment parameter acquisition, advancing resistance analysis, electric energy stability correction and the like, efficient optimization of walking robot path planning is successfully achieved, and the problem that in a complex environment, the walking robot path planning is prone to being affected by environment uncertainty, and consequently stability and reliability of walking robot path planning are poor is solved.

The invention relates to the technical field of robot path planning, and discloses an improved robot path planning method based on an RRT algorithm, and the method comprises the steps: carrying out the global path searching through an improved fast exploration random tree (RRT) algorithm, and employing a special random sampling strategy and a KD-Tree to accelerate the nearest neighbor searching, and improving the searching efficiency; a greedy strategy is utilized to optimize a path, and redundant nodes are reduced; a smooth trajectory is generated by means of cubic spline interpolation, and control points are dynamically adjusted through collision detection. The method effectively solves the problems of path redundancy and poor smoothness of a traditional RRT algorithm, is suitable for the fields of robot navigation, logistics transportation and the like, and can remarkably improve the path planning efficiency and quality.

The invention discloses a sensing optical cable laying robot path planning and obstacle avoidance system and method, and belongs to the technical field of robot path planning. The system comprises an environment sensing module, a data preprocessing module, a path planning module, an obstacle avoidance control module and a post-processing module. According to the method, environment information is acquired and preprocessed through a laser radar and a camera, path planning is performed based on an improved dynamic RRT algorithm, a self-adaptive step length adjustment mechanism is introduced, the step length is dynamically adjusted according to environment complexity, obstacle distance and path curvature, and a smooth path is generated by combining real-time obstacle detection and dynamic re-planning functions. A PID control algorithm is adopted to adjust the speed and the steering angle of the robot to achieve obstacle avoidance, and a post-processing module optimizes an evaluation path. The real-time performance, the path quality and the environment adaptability of the robot in a complex dynamic environment are improved, and efficient, safe and accurate laying of optical cables is ensured.

The invention discloses a mobile robot path planning method in a strongly restricted environment based on improved RRT-STAR, and belongs to the technical field of intelligent robot navigation and path planning, and the method mainly comprises the steps: 1, initializing, and constructing a spatial index structure; 2, realizing efficient path planning through a density perception adjustment mechanism and a hybrid sampling strategy; and step 3, optimizing the path generated in the step 2. Local obstacle density and environmental risk are evaluated in real time through a density sensing and risk degree field weighted sampling mechanism, sampling bias probability and extended step length are adaptively adjusted, dynamic weighted fusion is performed among three sampling modes of target priority, local adaptive and global uniformity, and the balance of global exploration and local optimization is realized; adjustable curvature continuity and jerk amplitude limiting soft constraint are introduced, local optimization is carried out by means of Clothoid segmented interpolation, and executable track improving path smoothness and overall quality meeting the dynamic requirements of Ccontinuity, speed, minimum turning radius and the like are generated.

The invention discloses a self-adaptive Gaussian mixture mechanical arm path planning method considering collision escape, and aims to solve the problems of low sampling efficiency, low convergence speed and poor path quality of mechanical arm path planning in a complex environment. The method mainly comprises the following steps: introducing a Gaussian mixture model for dynamic weight adjustment, wherein the model fuses four sampling strategies of target guidance, obstacle avoidance, uniform exploration and collision escape; the weight of each component is adaptively adjusted by evaluating the number of continuous collision times, the distance from the target and the like, so that blind search and heuristic exploration are dynamically balanced, and the sampling efficiency in a complex environment is remarkably improved. In addition, adjacent point search is accelerated by using two-dimensional spatial index, calculation resource allocation is optimized in combination with an early stop mechanism, and the quality of a final path is ensured through path simplification and smoothing. The result shows that the method has remarkable advantages in the aspects of path sampling efficiency, convergence speed and path smoothness.