CN105737830A - A path planning algorithm - Google Patents
A path planning algorithm Download PDFInfo
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- CN105737830A CN105737830A CN201410757261.8A CN201410757261A CN105737830A CN 105737830 A CN105737830 A CN 105737830A CN 201410757261 A CN201410757261 A CN 201410757261A CN 105737830 A CN105737830 A CN 105737830A
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Abstract
A path planning algorithm is disclosed. Characteristic circles are adopted to replace irregular obstacles in reality, coordinates of only three points are calculated, and calculation of coordinates of all points of the obstacles is not needed, thus greatly saving the calculation amount of a robot controller, saving calculation time and allowing a robot to rapidly and accurately calculate an optimum path.
Description
Technical field
The present invention relates to a kind of algorithm, particularly a kind of path planning algorithm.
Background technology
Robot to move to another place from a place, there is a lot of paths, but robot traveling process inevitably runs into various barrier, some obstacle robots can cross, but some obstacle robots cannot cross, if these obstacles crossed by force by robot, then can cause the damage of robot.So, the travel path of robot not only to consider nearest path, it is also contemplated that the accessibility in path, namely whether has the obstacle that robot is impassable on this path.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of path planning algorithm, and this path planning algorithm can fast and effeciently calculate robot optimal path from origin to destination.
In order to realize foregoing invention purpose, path planning algorithm of the present invention, step 1: robot stereo vision opens；Step 2: robot camera photo analysis；Step 3: determine the distance of the characteristic circle of barrier in front of robot；Step 4: determine the size of the characteristic circle of barrier in front of robot；Step 5: determine the distance of the characteristic circle of the slightly far a little barrier of robot；Step 6: determine the size of the characteristic circle of the slightly far a little barrier of robot；Step 7: jump to step 3, until the distance of characteristic circle of all barriers, size all calculate complete；Step 8: the characteristic circle of robot self is taken in the X-Y scheme comprising all barrier characteristic circle, characteristic circle by coordinate mobile apparatus people, if collided with the characteristic circle of certain barrier, then move down roboting features's circle, until roboting features's circle does not collide with this barrier characteristic circle；Step 9: repeat step 8, until roboting features's circle finds the path that can connect origin and destination, and does not collide with any barrier characteristic circle.
Characteristic circle refers to the coordinate of three points calculated by robot stereo vision, and the circle calculated.This circle surrounds a barrier entity, is free space outside this characteristic circle, and robot can arbitrarily walk about in free space, is then likely to occur collision within this characteristic circle.
The irregular slalom thing in reality is replaced by characteristic circle, only calculate the coordinate of three points, without calculate barrier coordinate a little, this dramatically saves on the amount of calculation of robot controller, save operation time, make robot can calculate optimal path rapidly and accurately.
Detailed description of the invention
Path planning algorithm of the present invention, step 1: robot stereo vision opens；Step 2: robot camera photo analysis；Step 3: determine the distance of the characteristic circle of barrier in front of robot；Step 4: determine the size of the characteristic circle of barrier in front of robot；Step 5: determine the distance of the characteristic circle of the slightly far a little barrier of robot；Step 6: determine the size of the characteristic circle of the slightly far a little barrier of robot；Step 7: jump to step 3, until the distance of characteristic circle of all barriers, size all calculate complete；Step 8: the characteristic circle of robot self is taken in the X-Y scheme comprising all barrier characteristic circle, characteristic circle by coordinate mobile apparatus people, if collided with the characteristic circle of certain barrier, then move down roboting features's circle, until roboting features's circle does not collide with this barrier characteristic circle；Step 9: repeat step 8, until roboting features's circle finds the path that can connect origin and destination, and does not collide with any barrier characteristic circle.
Characteristic circle refers to the coordinate of three points calculated by robot stereo vision, and the circle calculated.This circle surrounds a barrier entity, is free space outside this characteristic circle, and robot can arbitrarily walk about in free space, is then likely to occur collision within this characteristic circle.
The irregular slalom thing in reality is replaced by characteristic circle, only calculate the coordinate of three points, without calculate barrier coordinate a little, this dramatically saves on the amount of calculation of robot controller, save operation time, make robot can calculate optimal path rapidly and accurately.
Claims (2)
1. path planning algorithm, it is characterised in that: step 1: robot stereo vision opens；Step 2: robot camera photo analysis；Step 3: determine the distance of the characteristic circle of barrier in front of robot；Step 4: determine the size of the characteristic circle of barrier in front of robot；Step 5: determine the distance of the characteristic circle of the slightly far a little barrier of robot；Step 6: determine the size of the characteristic circle of the slightly far a little barrier of robot；Step 7: jump to step 3, until the distance of characteristic circle of all barriers, size all calculate complete；Step 8: the characteristic circle of robot self is taken in the X-Y scheme comprising all barrier characteristic circle, characteristic circle by coordinate mobile apparatus people, if collided with the characteristic circle of certain barrier, then move down roboting features's circle, until roboting features's circle does not collide with this barrier characteristic circle；Step 9: repeat step 8, until roboting features's circle finds the path that can connect origin and destination, and does not collide with any barrier characteristic circle.
2. path planning algorithm according to claim 1, it is characterised in that: described characteristic circle refers to the coordinate of three points calculated by robot stereo vision, and the circle calculated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410757261.8A CN105737830A (en) | 2014-12-11 | 2014-12-11 | A path planning algorithm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410757261.8A CN105737830A (en) | 2014-12-11 | 2014-12-11 | A path planning algorithm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105737830A true CN105737830A (en) | 2016-07-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410757261.8A Pending CN105737830A (en) | 2014-12-11 | 2014-12-11 | A path planning algorithm |
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| CN (1) | CN105737830A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11829147B2 (en) | 2018-10-10 | 2023-11-28 | Dyson Technology Limited | Path planning |
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2014
- 2014-12-11 CN CN201410757261.8A patent/CN105737830A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11829147B2 (en) | 2018-10-10 | 2023-11-28 | Dyson Technology Limited | Path planning |
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Legal Events
| Date | Code | Title | Description |
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| C06 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20160706 |
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| WD01 | Invention patent application deemed withdrawn after publication |