CN112987740B - Mobile robot path planning control method - Google Patents
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- 238000010276 construction Methods 0.000 claims description 4
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention belongs to the technical field of path planning, and particularly relates to a mobile robot path planning control method; the mobile robot path planning control method comprises a data processing step, wherein obstacles in a field are expanded by the radius of a robot to form a circle with the obstacle as the center; a judging step of connecting the starting point with the target point to form a straight line and judging whether the straight line and the circle have an intersection point or not; and forming a planned route, namely constructing an auxiliary line segment parallel to the straight line on the circle, and performing smoothing treatment on the formed preliminary planned route, wherein the smoothed planned route is an optimal path from a starting point to a target point. The invention provides a new mobile robot path planning control method, which effectively processes circular obstacles, and as only the obstacles touchable under the current planning path are researched and processed, other irrelevant obstacles are abandoned, and the calculation time of an algorithm is improved.
Description
Technical Field
The invention belongs to the technical field of path planning, and particularly relates to a mobile robot path planning control method.
Background
Path planning for mobile robots is a core and research hotspot in mobile robot related technology research. The task of robot path planning is to plan an optimal or sub-optimal path from a given starting point to a given target point according to certain optimization indexes according to perceived working environment information, wherein the optimal or sub-optimal path has no collision with obstacles in the environment. Path planning methods of mobile robots can be classified into two types: one is global path planning where the environmental information is completely known, and the other is local path planning where the environmental information is unknown or partially unknown. The global path planning can be divided into a plurality of types according to the representation methods of the environment model, and the representative method is a configuration space method. The basic idea of the configurational space method is to simplify the robot to one point and simultaneously to perform corresponding expansion treatment on the obstacle, wherein the research is mature and is a visual method. The method connects all the barrier vertexes with the starting point and the target point of the unmanned ship by line segments, if the line segments do not intersect with the barrier, the line segments are considered as visible, and then the optimal path from the starting point to the target point is searched according to the visible line segments. However, the visual method lacks flexibility, the algorithm has long calculation time and poor real-time performance, and is not suitable for the path planning problem of the circular obstacle.
Disclosure of Invention
The invention provides a new mobile robot path planning control method aiming at the problems.
The specific technical scheme of the invention is as follows:
the invention provides a mobile robot path planning control method, which comprises the following steps:
s1: a data processing step, namely acquiring position information of an obstacle in a field, a ball receiving area and a contact area, and expanding the obstacle in the field into a circle taking the obstacle as a center by using the radius of the robot;
s2: a judging step, namely taking the position of the robot in the ball receiving area as a starting point, taking the target touchdown position in the touchdown area as a target point, connecting the starting point with the target point to form a straight line, judging whether the straight line has an intersection point with a circle, if so, sending a command to the step S3, and if not, taking the straight line segment as an optimal path from the starting point to the target point;
s3: a planning route forming step, namely constructing an auxiliary line segment parallel to the straight line on the circle, wherein the auxiliary line segment is a tangent line of the circle, the length of the auxiliary line segment is equal to the radius of the circle, two end points of the auxiliary line segment are auxiliary points, and the starting point, the two auxiliary points and the target point are sequentially connected to form a preliminary planning route;
s4: and an optimal path construction step, namely judging whether each section of the formed planning path is intersected with a circle, if so, reconstructing an auxiliary line section to form a final planning path, otherwise, carrying out smoothing treatment on the formed preliminary planning path, wherein the planning path after the smoothing treatment is an optimal path from a starting point to a target point.
A mobile robot path planning control system comprising a memory, a processor and a computer program stored on the memory, the processor executing the computer program to carry out the steps of the method described above.
The beneficial effects of the invention are as follows:
the invention provides a new mobile robot path planning control method, which effectively processes circular obstacles, and as only the obstacles touchable under the current planning path are researched and processed, other irrelevant obstacles are abandoned, and the calculation time of an algorithm is improved.
Drawings
FIG. 1 is a flow chart of a mobile robot path planning control method in the present invention;
FIG. 2 is a flow chart of step S2 in the present invention;
FIG. 3 is a flowchart of step S3 of the present invention;
FIG. 4 (a) is a schematic diagram of path detection in the present invention;
FIG. 4 (b) is a schematic diagram of auxiliary point determination in the present invention;
FIG. 4 (c) is a graph showing the effect of the fitted curve in the present invention;
fig. 5 is a flowchart of step S4 in the present invention.
Detailed Description
The invention will be described in further detail with reference to the accompanying drawings and the following examples.
In some embodiments, the present invention provides a mobile robot path planning control method, as shown in fig. 1, including the following parts:
s1: a data processing step, namely acquiring position information of an obstacle in a field, a ball receiving area and a contact area, and expanding the obstacle in the field into a circle taking the obstacle as a center by using the radius of the robot;
s2: a judging step, namely taking the position of the robot in the ball receiving area as a starting point, taking the target touchdown position in the touchdown area as a target point, connecting the starting point with the target point to form a straight line, judging whether the straight line has an intersection point with a circle, if so, sending a command to the step S3, and if not, taking the straight line segment as an optimal path from the starting point to the target point;
s3: a planning route forming step, namely constructing an auxiliary line segment parallel to the straight line on the circle, wherein the auxiliary line segment is a tangent line of the circle, the length of the auxiliary line segment is equal to the radius of the circle, two end points of the auxiliary line segment are auxiliary points, and the starting point, the two auxiliary points and the target point are sequentially connected to form a preliminary planning route;
s4: and an optimal path construction step, namely judging whether each section of the formed planning path is intersected with a circle, if so, reconstructing an auxiliary line section to form a final planning path, otherwise, carrying out smoothing treatment on the formed preliminary planning path, wherein the planning path after the smoothing treatment is an optimal path from a starting point to a target point.
The invention provides a new mobile robot path planning control method, which effectively processes circular obstacles, and as only the obstacles touchable under the current planning path are researched and processed, other irrelevant obstacles are abandoned, and the calculation time of an algorithm is improved.
In this embodiment, first, whether the expected path intersects with the obstacle is determined based on the principle that the straight line between the two points is shortest, if so, the auxiliary point is selected according to the intersected obstacle, otherwise, the expected path moves along the current expected path. Since the shape of the obstacle in the field is mostly circular, whether the radius of the obstacle intersects with the radius of the robot and the circle with the radius is intersected with each section of expected curve is judged by taking the center point of the obstacle as the center of the circle.
As shown in fig. 2, step S2 in this embodiment includes the following parts:
s21: taking a starting point as an origin, and establishing a plane coordinate system by taking a straight line formed by the starting point and the target point as an x-axis;
s22: calculating coordinates of each point on the circle according to the plane coordinate system;
s23: and judging whether the ordinate of a point on the circle is 0, if so, the circle has an intersection point with a straight line formed by the starting point and the target point, and if not, the circle has no intersection point.
In this embodiment, a plane coordinate system is established with the starting point as the origin, and whether each point on the circle intersects with the x-axis is determined by determining whether the ordinate of the point on the circle is 0.
As shown in fig. 3, step S3 in this embodiment includes the following parts:
s31: judging whether only one auxiliary line segment is parallel to the straight line formed by the initial point and the target point, if yes, sequentially connecting the initial point, the two auxiliary points and the target point to form a preliminary planning route, otherwise, performing step S32;
s32: calculating coordinates of a target point and a central point on each auxiliary line segment, and calculating a vertical distance from the central point to an x-axis of a plane coordinate system;
s33: and comparing the magnitudes of the vertical distances, and leaving the auxiliary line segment with the smallest vertical distance as the determined auxiliary line segment, wherein the rest auxiliary line segments are hidden.
In this embodiment, there may be more than one auxiliary line segment parallel to the x-axis, and at this time, it is necessary to determine the auxiliary line segment that is shortest from the x-axis to construct an optimal path.
In this embodiment, the midpoint of the auxiliary line segment in step S32 is a point on the circle.
In the embodiment, in step S33, two end points of the auxiliary line segment are used as auxiliary points, coordinates of the two auxiliary points are calculated based on a plane coordinate system, and the starting point, each auxiliary point and the target point are sequentially connected based on the coordinates of each point. In this embodiment, coordinates of a starting point, each auxiliary point and a target point need to be calculated, and each point is connected to construct an optimal path through the coordinates, so that the robot can move conveniently.
In this embodiment, the smoothing process of the planned route in step S4 uses a non-uniform B-spline method for fitting.
As shown in fig. 4 (a), in order to facilitate the study of the moving track of the mobile robot, the obstacle is inflated with the radius of the robot, the movement of the robot is regarded as the movement of the point, the starting point and the target point are respectively designated as a and B, and the obstacle is the center point O 1 Expand the circle and set the coordinates of the center point to (x) 1 ，y 1 )；
As shown in fig. 4 (b), since the obstacle is circular without a vertex, an auxiliary point is used herein to determine a feasible path, and the determination of the auxiliary point is related to the initial point, the included angle between the line of the target point and the horizontal line. Assuming that the starting point is A, the target point is B, O 1 As the center of the obstacle, GO 1 Is of radius due to O 1 Is located below the line AB and therefore an auxiliary vertex is made above AB to achieve local path minima. The line CD is parallel to AB and circle O 1 Tangent with length of circle O 1 Diameter, G is the CD midpoint. From the geometric relationship, the coordinates of the auxiliary point C, D can be found, wherein the D point coordinates are as follows:
x 3 ＝x 1 +GD·cosα-GO 1 ·sinα
y 3 ＝y 1 +GD·sinα+GO 1 ·cosα
and the C point coordinate can be obtained by the same method. And connecting the starting point, the auxiliary point C, D and the target point to form a broken line, and judging whether each section of the route intersects with the obstacle or not until the route is completely available.
The generated path is smoothed, in the invention, a non-uniform B-spline method is adopted for fitting, under the condition that a starting point, an auxiliary point in a planned path and a target point are known, the segment of broken line is divided into a plurality of parts, and a fitted curve (shown in fig. 4 (c)) passes through the known point and is closest to the original broken line.
As shown in fig. 5, step S4 in this embodiment includes the following parts:
s41: calculating the coordinates of each point on the formed preliminary planning route based on a plane coordinate system;
s42: judging whether the coordinates of each point are coincident with the coordinates of each point on the circle, if not, performing smoothing treatment on the preliminary planned route, and if so, performing step S43;
s43: judging whether a straight line formed by the starting point and the target point intersects with a circle formed by expansion of an obstacle, if so, reconstructing a determined auxiliary line segment to form a final planning route, and if not, performing step S44:
s44: and judging the positions of points which are overlapped with the coordinates of each point on the circle on the preliminarily formed planning route, reconstructing the auxiliary line segment corresponding to the circle if the points are overlapped on the auxiliary line segment of one circle, and reconstructing all the auxiliary line segments corresponding to the circles if the points are overlapped on the auxiliary line segment of each circle.
In this embodiment, reconstructing the auxiliary line segment in step S43 and step S44 includes:
and displaying the auxiliary line segment with the vertical distance smaller than the vertical distance in the hidden auxiliary line segments as a determined auxiliary line segment, taking two end points of the determined auxiliary line segment as auxiliary points, sequentially connecting the starting point, the two auxiliary points and the target point to form a secondary planning route, repeating the step S42 after calculating the coordinates of each point on the secondary planning route until the coordinates of each point on the planning route do not coincide with the coordinates of each point on the circle to form a final planning route, and carrying out smoothing treatment on the final planning route.
The embodiment is characterized in that step S4 further includes the following parts:
s45: when the coordinates of points in all auxiliary line segments corresponding to the circle are overlapped with the coordinates of points on the circle, randomly selecting a straight line segment tangent to the circle on the circle formed by expansion of the obstacle as a complement auxiliary line segment, wherein the central point of the complement auxiliary line segment is overlapped with the points on the circle, the two end points of the complement auxiliary line segment are used as complement auxiliary points, sequentially connecting the starting point, the complement auxiliary points and the target points to form a complement planning route, repeating the step S42 after calculating the coordinates of the points on the complement planning route until the coordinates of the points on the planning route are not overlapped with the coordinates of the points on the circle, and carrying out smoothing treatment on the complement planning route;
preferably, the complement auxiliary line segment is a tangent line with the shortest perpendicular distance between the central point and the plane coordinate system.
In this embodiment, the construction of the optimal path is ensured by the method described above, when the preliminary planned route intersects with the circle, the auxiliary line segment with the next shortest vertical distance is constructed to form the next planned route, when all the auxiliary line segments intersect with the obstacle, a tangent line is optionally selected on the circle as a complement auxiliary line segment, and the complement auxiliary line segment has the shortest vertical distance from the x-axis among all the tangent lines that are not parallel to the x-axis.
The invention also provides a mobile robot path planning control system, which comprises a memory, a processor and a computer program stored on the memory, wherein the processor executes the computer program to realize the steps of the method.
The above examples are merely illustrative of the preferred embodiments of the present invention and are not intended to limit the scope of the present invention, and various modifications and improvements made by those skilled in the art to the technical solution of the present invention should fall within the scope of protection defined by the claims of the present invention without departing from the spirit of the present invention.
Claims (7)
1. The mobile robot path planning control method is characterized by comprising the following steps:
s1: a data processing step, namely acquiring position information of an obstacle in a field, a ball receiving area and a contact area, and expanding the obstacle in the field into a circle taking the obstacle as a center by using the radius of the robot;
s2: a judging step, namely taking the position of the robot in the ball receiving area as a starting point, taking the target touchdown position in the touchdown area as a target point, connecting the starting point with the target point to form a straight line, judging whether the straight line has an intersection point with a circle, if so, sending a command to the step S3, and if not, taking the straight line segment as an optimal path from the starting point to the target point;
s3: a planning route forming step, namely constructing an auxiliary line segment parallel to the straight line on the circle, wherein the auxiliary line segment is a tangent line of the circle, the length of the auxiliary line segment is equal to the radius of the circle, two end points of the auxiliary line segment are auxiliary points, and the starting point, the two auxiliary points and the target point are sequentially connected to form a preliminary planning route;
s4: an optimal path construction step, judging whether each section of the formed planning path intersects with a circle, if so, reconstructing an auxiliary line section to form a final planning path, otherwise, carrying out smoothing treatment on the formed preliminary planning path, wherein the planning path after the smoothing treatment is an optimal path from a starting point to a target point;
step S4 includes the following parts:
s41: calculating the coordinates of each point on the formed preliminary planning route based on a plane coordinate system;
s42: judging whether the coordinates of each point are coincident with the coordinates of each point on the circle, if not, performing smoothing treatment on the preliminary planned route, and if so, performing step S43;
s43: judging whether a straight line formed by the starting point and the target point intersects with a circle formed by expansion of an obstacle, if so, reconstructing a determined auxiliary line segment to form a final planning route, and if not, performing step S44:
s44: judging positions of points which are overlapped with coordinates of each point on a circle on a planning route formed preliminarily, reconstructing an auxiliary line segment corresponding to the circle if the points are overlapped on the auxiliary line segment of one circle, and reconstructing auxiliary line segments corresponding to all circles if the points are overlapped on the auxiliary line segment of each circle;
s45: when the coordinates of points in all auxiliary line segments corresponding to the circle are overlapped with the coordinates of points on the circle, randomly selecting a straight line segment tangent to the circle on the circle formed by expansion of the obstacle as a complement auxiliary line segment, wherein the central point of the complement auxiliary line segment is overlapped with the points on the circle, the two end points of the complement auxiliary line segment are used as complement auxiliary points, sequentially connecting the starting point, the complement auxiliary points and the target points to form a complement planning route, repeating the step S42 after calculating the coordinates of the points on the complement planning route until the coordinates of the points on the planning route are not overlapped with the coordinates of the points on the circle, and carrying out smoothing treatment on the complement planning route;
the complement auxiliary line segment is a tangent line with the shortest vertical distance between the central point and the plane coordinate system;
reconstructing the auxiliary line segment in step S43 and step S44 includes:
and displaying the auxiliary line segment with the vertical distance smaller than the vertical distance in the hidden auxiliary line segments as a determined auxiliary line segment, taking two end points of the determined auxiliary line segment as auxiliary points, sequentially connecting the starting point, the two auxiliary points and the target point to form a secondary planning route, repeating the step S42 after calculating the coordinates of each point on the secondary planning route until the coordinates of each point on the planning route do not coincide with the coordinates of each point on the circle to form a final planning route, and carrying out smoothing treatment on the final planning route.
2. The mobile robot path planning control method according to claim 1, wherein step S2 includes the following parts:
s21: taking a starting point as an origin, and establishing a plane coordinate system by taking a straight line formed by the starting point and the target point as an x-axis;
s22: calculating coordinates of each point on the circle according to the plane coordinate system;
s23: and judging whether the ordinate of a point on the circle is 0, if so, the circle has an intersection point with a straight line formed by the starting point and the target point, and if not, the circle has no intersection point.
3. The mobile robot path planning control method according to claim 2, wherein step S3 includes the following parts:
s31: judging whether only one auxiliary line segment is parallel to the straight line formed by the initial point and the target point, if yes, sequentially connecting the initial point, the two auxiliary points and the target point to form a preliminary planning route, otherwise, performing step S32;
s32: calculating coordinates of a target point and a central point on each auxiliary line segment, and calculating a vertical distance from the central point to an x-axis of a plane coordinate system;
s33: and comparing the magnitudes of the vertical distances, and leaving the auxiliary line segment with the smallest vertical distance as the determined auxiliary line segment, wherein the rest auxiliary line segments are hidden.
4. A mobile robot path planning control method according to claim 3, characterized in that the midpoint of the auxiliary line segment in step S32 is a point on a circle.
5. The mobile robot path planning control method according to claim 4, wherein in step S33, two end points of the auxiliary line segment are used as auxiliary points, coordinates of the two auxiliary points are calculated based on a planar coordinate system, and the start point, each auxiliary point, and the target point are sequentially connected based on the coordinates of each point.
6. The mobile robot path planning control method according to claim 1, wherein the smoothing process of the planned route in step S4 is fitted using a non-uniform B-spline method.
7. A mobile robot path planning control system comprising a memory, a processor and a computer program stored on the memory, characterized in that the processor executes the computer program to carry out the steps of the method of claim 1.
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