CN106774329A - A kind of robot path planning method based on oval tangent line construction - Google Patents
A kind of robot path planning method based on oval tangent line construction Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
Abstract
The invention belongs to robot autonomous path planning field, propose a kind of robot path planning method based on oval tangent line construction, the invention is surrounded by ellipse to barrier region, exploring for two minutes for path is carried out to oval tangent line generation using point, while being seamlessly transitted to the path that search is obtained by oval arc side.First the data for obtaining are carried out with Outlier rejeetion, the generation of cost map and the operations such as the oval generation of minimum encirclement are carried out to specific obstacle region, and then generated by the tangent line put to ellipse and oval to a series for the treatment of such as oval approximate common tangent generations, the all alternative paths from starting point to impact point are obtained, optimal path is picked out eventually through cost function.Paths planning method proposed by the present invention overcomes the problems such as conventional method is computationally intensive, path not enough smooths, and more excellent and smooth path can be obtained within the less time, can meet the application demand of fast path planning in robot two-dimensional space.
Description
Technical field
The invention belongs to robot autonomous path planning field, and in particular to a kind of robot based on oval tangent line construction
Paths planning method.
Background technology
With the continuous progress of state-of-the-art technology, robot technology has been achieved for developing rapidly, and robot gives birth in life
Application in product also becomes more extensive.Autonomous path planning is used as an important composition portion in mobile robot technology field
Point, importance is especially prominent.Mobile robot path planning refers to that in the environment for having barrier, robot is with reference to certain
Criterion, such as shortest path, minimum turn number of times, find out an optimal safe collisionless from start position to final position
Path.
Existing paths planning method can be divided into two classes according to robot to the difference that environmental information perceives degree：It is global
Paths planning method and local paths planning method.Global path planning is a kind of robot road completely known to environmental information
Footpath planning, is divided into static global path planning and dynamic global path planning again.Document (Guo Y, Li S.Path Planning
for Robot Based on Improved Ant Colony Algorithm[J].Computer Measurement&
Control,2009,17(1):Ant group algorithm is used under static environment robot path planning in 187-153.), the algorithm
The environment with barrier is modeled using the method for grid discretization, by simulating the intelligent row that ant colony is looked for food
To complete the search of optimal path by many ant cooperations.But the algorithm is not suitable for the environment for changing in real time, adjusts energy
Power is poor.Document (Stentz A.Optimal and efficient path planning for partially-known
environments[C]//IEEE International Conference on Robotics and Automation,
1994.Proceedings.1994:The D-Star algorithms proposed in 3310-3317.) can be cooked up most short in dynamic environment
Path, but because the algorithm is computationally intensive, it is impossible to the demand of mobile robot real-time route planning is met, while the path of generation
Not enough smooth, be unfavorable for the movement of robot.
Local paths planning is that robot is unknown to environment or part is unknown, and environmental information is obtained in real time by perceptron
A kind of path planning, document (Khatib O.Real-time obstacle avoidance for manipulators and
mobile robots[J].International Journal of Robotics Research,1985,1(5):500-
505.) Artificial Potential Field Method proposed in is by the motion design in robot around environment into a kind of abstract artificial gravitational field
Motion, impact point produces " gravitation " to mobile robot, and barrier produces " repulsion " to mobile robot, finally by asking conjunction
Power controls the motion of mobile robot.The path that the algorithm is generated is general smoother and safe.But when object is from mesh
When punctuate is distant, gravitation is especially big by what is become, and mobile robot is caused in path by the repulsion of barrier generation is relatively small
On may encounter barrier, and the algorithm can only be planned local path and the overall situation can not be optimized.
Document (Marder-Eppstein E, Berger E, Foote T, et al.The Office Marathon:
Robust navigation in an indoor office environment[J].2010,58(8):It is same in 300-307.)
When A-Star algorithms and sliding window algorithm has been used respectively to carry out environment the path planning of global and local, but the method
Not enough integration, the engagement process of algorithm is relatively complicated.Document (Chen H, Chang K, Agate C S.UAV Path
Planning with Tangent-plus-Lyapunov Vector Field Guidance and Obstacle
Avoidance[J].IEEE Transactions on Aerospace Electronic Systems,2013,49(2):
Circle has been used in 840-856.) to surround barrier zone, has realized the local dynamic station avoidance of mobile robot.But circle
The encirclement of shape is less efficient, and accurately barrier region cannot be described in many cases, easily excessive by feasible region
Domain is changed into infeasible, causes space waste.
In sum, a kind of method of integration how is found, it is quickly planned global context, and energy
Safe and smooth path is obtained in local dynamic environments, while can as far as possible avoid that excessive be changed into area of feasible solutions can not
OK, it appears particularly significant.
The content of the invention
For the above mentioned problem of prior art, the present invention proposes a kind of robot path rule based on oval tangent line construction
The method of drawing, the method can be quickly planned global context, and can improve the adaptability to local dynamic environments.Its feature
It is that barrier region is surrounded by ellipse, exploring for two minutes for path is carried out to oval tangent line generation using point, while
The path that search is obtained is seamlessly transitted by oval border.Compared to circle, ellipse can be carried out to barrier region
Preferably description, and the method for oval tangent line construction does not carry out raster search to map, simply to partial impairment object area
Carry out it is minimum surround oval generation, reduce amount of calculation, at the same the arc side of ellipse can auxiliary smooth path, overcome tradition side
The problems such as method is computationally intensive, path not enough smooths, can obtain more excellent and smooth path within the less time, can meet machine
The application demand of fast path planning in device people's two-dimensional space.
Robot obtains current environmental data, the airborne computer that robot is equipped with by laser ranging or vision-based detection
According to the environmental data for receiving, data are carried out with bad point filtering, expansion, barrier profile is searched and generates minimum encirclement be oval
Deng pretreatment；Based on pretreated data, put oval tangent line is generated to oval, oval, and then by tangent line
It is connected to realize that a plurality of alternative path of origin-to-destination is generated with oval border；Cost is carried out by the path for generating
Assessment, so as to pick out optimal path.
Technical scheme is comprised the following steps：
The first step, the pretreatment of data and cost ground map generalization
Outlier rejeetion is carried out to the environmental data that mobile robot is obtained, and then generates local two-dimensional grid map.
During robot carries out path planning, position and known barrier cartographic information according to itself carry out optimal path
Search.But because this process does not take into account the shaped volumes of robot itself, give tacit consent to robot central point
Instead of whole robot, can only ensure that this point will not be collided with barrier.Cost map is now introduced to solve this problem, generation
Valency map is the form parameter according to robot, on the basis of original map, an expansion is set near practical obstacle thing
Region.Fig. 1 show a cost map, and wherein solid black areas represent actual barrier, and dashed region represents expansion
Barrier afterwards.In actual applications, in avoidance, its profile should not encounter practical obstacle object area for robot, this for
Realizing for path planning algorithm is relatively difficult, because robot shape may be varied.To can think after introducing cost map
Road is transformed into robot central point can not encounter the expansion area of cost map, i.e., ensuing path planning is in cost map
On the basis of complete.
Second step, the ellipse fitting of barrier region
It is to carry out next step that minimum external oval generation is carried out to the barrier region in the cost map that has generated
The basis of footpath planning.Ellipse fitting algorithm includes direct computing method, least square method, least square intermediate value method, for efficiency and
Precision considers that the part carries out ellipse fitting, but the mistake being fitted using least square fitting algorithm come the marginal point to profile
Easily occurs the situation that base point is not surrounded by ellipse in journey, as shown in Figure 2.In order that the ellipse being capable of be all surrounded correspondence barrier
Hinder object area, employ following algorithm：
1) judge the oval all boundary points for whether containing current barrier region, if all including, terminate algorithm, if
It is not all of including, into step 2)；
2) unit sizes are increased to oval major axis, judges whether current ellipse contains all of current barrier region
Boundary point, if all including, terminates algorithm, if not all including, increases unit sizes to oval short axle, into step
1)。
So far the region for generating is minimum external oval as shown in Figure 3.
3rd step, the point outside ellipse is generated to oval tangent line
Obtain outside ellipse a little to the oval tangent line, it is larger using the method amount of calculation approached is solved equation, use here
A kind of method using auxiliary circle accurately obtains oval tangent line.
The focus for being provided with oval O is F1、F2, P is a bit outside ellipse, as shown in figure 4, obtaining P points pair as follows
The tangent line of oval O：
1) center with oval O is as the center of circle, and major axis is that diameter makees oval auxiliary circle；
2) with PF1Make circle for diameter and hand over the auxiliary circle of ellipse O in D, E at 2 points；
3) connection PD, PE, as required tangent line, as shown in Figure 5.
4th step, it is oval that oval approximate common tangent is generated
When path is generated between ellipse, tangent line generation is carried out to another ellipse according to the point on an ellipse
Method, it may appear that through current oval problem, this will make robot be collided with the barrier in ellipse to tangent line, while
Also straight line path and not smooth enough the problem of oval border linking occurs.As shown in fig. 6, there is point P on ellipse A, cross point P and make ellipse
Tangent line PD, PE of circle B can have found that tangent line have passed through oval A, while two tangent lines are not engaged on one what two ellipses were smoothed
Rise.
Oval common tangent does not have accurate method for solving, and existing alternative manner amount of calculation is excessive, it is impossible to meet robot
The demand of real-time navigation, is employed herein the method approached twice to obtain the approximate common tangent of ellipse, and step is as follows：
1) D points are crossed and makees tangent lines of the ellipse A near P points, obtain DPD；Cross E points and make tangent lines of the ellipse A near P points, obtain EPE,
As shown in Figure 7；
2) P is crossedDPoint makees tangent lines of the ellipse B near D points, obtains PDD1；Cross PEPoint makees tangent lines of the ellipse B near E points, obtains
PEE1, as shown in Figure 8.
By above step, the linking that the common tangent that will be obtained is used between ellipse, make the path more safety of generation and
It is smooth.
5th step, the path planning based on oval tangent line construction
The starting point for setting mobile robot is S, and impact point is E, and path planning is carried out as follows：
1) the most short principle of line segment between 2 points is followed, is recalled from impact point E, make line segment ES, if as shown in figure 9,
Barrier is not touched, then the line segment is optimal path, and path planning terminates, if touching barrier, as shown in Figure 10,
Into step 2)；
2) when barrier K is met in the path recalled from E0When, to barrier region K0Ellipse fitting is carried out, such as institute in Figure 11
The minimum encirclement ellipse O for showing0, into step 3)；
3) E points and S points are crossed respectively to oval O0ES is obtained as tangent line1、ES2And SE1、SE2, as shown in figure 12；
4) for S1E、S2E、SE1、SE2Four single sub paths, respectively with S1、S2, S, S be starting point, E, E, E1、E2It is target
Point is carried out since step 1 respectively) recurrence that starts judges, it is one of oval on point to another oval tangent line according to the 4th
The approximate common tangent generation of ellipse and optimization method in step are optimized, until all subpaths all with barrier zone collisionless point
When terminate recurrence, all subpaths for now obtaining are as shown in figure 13；
5) according to the principle that point-to-point transmission line segment is most short, the non-adjacent points to the clear collision therebetween of every paths connect
Logical optimization processing, as shown in figure 14, so far generates with S as starting point, and E is all alternative paths of impact point；
6) every paths are carried out with cost judge, the evaluation function that cost is judged is apart from cost, corner cost, generation time
One or more in valency and speed penalty.
It is preferred that use as a example by cost and corner cost, by being estimated to every paths formula (1) Suo Shi
P (S, E)=D (S, E)+Y (S, E) (1)
Total cost that wherein P (S, E) is paid by Robot Selection current path, D (S, E) is the current road of Robot Selection
The corner cost paid by Robot Selection current path apart from cost, Y (S, E) that footpath is paid.
7) optimal path in all alternative paths is obtained, SABCDE as shown in figure 15, wherein SA, BC, DE are line segment,
AB, CD are the oval arc side of correspondence.So far, path planning is finished.
Data of the present invention first to obtaining carry out Outlier rejeetion, the generation of cost map and specific obstacle region are carried out
Minimum surrounds the operations such as oval generation, and then oval tangent line is generated and oval to oval approximate common tangent by being put
A series for the treatment of such as generation, obtain all alternative paths from starting point to impact point, are picked out most eventually through cost function
Shortest path.Paths planning method proposed by the present invention overcomes the problems such as conventional method is computationally intensive, path not enough smooths, can be
More excellent and smooth path is obtained in the less time, the application need of fast path planning in robot two-dimensional space can be met
Ask.
Brief description of the drawings
Fig. 1 is cost map.
Fig. 2 is the design sketch before ellipse fitting optimization.
Fig. 3 is the design sketch after ellipse fitting optimization.
Fig. 4 is the oval and oval outer schematic diagram of a bit.
Fig. 5 is tangent line schematic diagram of the point outside ellipse to ellipse.
Fig. 6 is the schematic diagram that point on an ellipse makees tangent line to another ellipse.
Fig. 7 is the approximate common tangent schematic diagram of ellipse after once approaching.
Fig. 8 is the approximate common tangent schematic diagram of ellipse after approaching twice.
Fig. 9 is the schematic diagram of initial point and impact point.
Figure 10 encounters the schematic diagram of barrier zone for shortest path.
Figure 11 is to the minimum schematic diagram for surrounding ellipse of specific barrier zone generation.
The schematic diagram of the single sub paths of Figure 12 tetra-.
All subpath schematic diagrames of Figure 13 generations.
All subpath schematic diagrames after Figure 14 optimizations.
Figure 15 optimal path schematic diagrames.
Figure 16 mobile robots are under identical starting point to the route programming result figure of different target point.
Specific embodiment
Specific embodiment of the invention is described in detail below in conjunction with technical scheme and accompanying drawing.
In the preparatory stage, to be equipped with two-dimensional laser come as a example by being perceived to environment, the laser is effective to mobile robot
Distance is 0.06 meter to 10.0 meters, and frequency is 40 hertz, and detection angles are 270 degree, and angular resolution is 0.25 degree.Mobile robot
It is long 1 meter, wide 1 meter, high 0.2 meter, in order to prevent laser data from being influenceed by mobile robot bulge-structure, now by 0.71 meter
Data rejected, therefore, mobile robot can be obtained barrier coverage more than 0.71 meter, less than 10 meters.Connect
Needs to choose suitable experimental site, and the selection in place can guarantee that in environment there is appropriate barrier without too many limitation.
Mobile robot is placed on the place chosen, equipment is powered, after system initialization, impact point is set, robot is opened
Begin to start and read in the barrier data in environment from two-dimensional laser to be analyzed treatment.
First, laser data is filtered, that is, leaves 0.71 meter to 10.0 meters of data, then barrier region is pressed
Size according to mobile robot carries out expansion generation cost map.Based on the cost map of generation, pressed from impact point and starting point
Connecting line segment carry out the backtracking search of line segment path, first barrier region to encountering carries out minimum external oval generation.
And then tangent line generation is carried out to the extraneous ellipse with starting point and impact point, obtain four single sub paths.Will per single sub path according to
The matching relationship of sub- starting point and specific item punctuate carries out recursive calculation, until all subpaths can be with line segment and elliptic arc side phase
The mode cut-through object area of linking, that is, generate all alternative paths from starting point to impact point.Then it is standby to every
Routing footpath optimizes, it is to avoid 2 points of situations about detouring of connection.Finally are entered to the every paths for generating row distance generation
The association evaluation of valency and corner cost, obtains being best suitable for the path of the mobile robot, as shown in figure 16 for mobile robot exists
To the route programming result of different target point under identical starting point.So far, the robot road based on oval tangent line construction is completed
Footpath planning.
Claims (5)
1. a kind of robot path planning method based on oval tangent line construction, its feature comprises the following steps：
The first step, the pretreatment of data and cost ground map generalization
Outlier rejeetion is carried out to the environmental data that mobile robot is obtained, and then generates local two-dimensional grid map；In machine
During people carries out path planning, position and known barrier cartographic information according to itself carry out optimal path and search
Seek；Robot central point is replaced whole robot by acquiescence, it is ensured that this point will not be collided with barrier；Cost map is basis
The form parameter of robot, on the basis of original map, sets an expansion area near practical obstacle thing；
Second step, the ellipse fitting of barrier region
Ellipse fitting is carried out come the marginal point to profile using ellipse fitting algorithm, enables ellipse be all surrounded correspondence obstacle
Object area, employs following algorithm：
1) judge the oval all boundary points for whether containing current barrier region, if all including, terminate algorithm, if not
All include, into step 2)；
2) unit sizes are increased to oval major axis, judges whether current ellipse contains all borders of current barrier region
Point, if all including, terminates algorithm, if not all including, increases unit sizes to oval short axle, into step 1)；
3rd step, the point outside ellipse is generated to oval tangent line
The focus for being provided with oval O is F1、F2, P is a bit outside ellipse, and tangent line of the P points to oval O is obtained as follows：
1) center with oval O is as the center of circle, and major axis is that diameter makees oval auxiliary circle；
2) with PF1Make circle for diameter and hand over the auxiliary circle of ellipse O in D, E at 2 points；
3) PD, PE, as required tangent line are connected；
4th step, it is oval that oval approximate common tangent is generated
When path is generated between ellipse, there is point P on oval A, tangent line PD, the PE for crossing point P work ellipses B can have found that tangent line is worn
Oval A is crossed, while two tangent lines are not being engaged togather that two ellipses are smoothed；
The approximate common tangent of ellipse is obtained using the method approached twice, step is as follows：
1) D points are crossed and makees tangent lines of the ellipse A near P points, obtain DPD；Cross E points and make tangent lines of the ellipse A near P points, obtain EPE；
2) P is crossedDPoint makees tangent lines of the ellipse B near D points, obtains PDD1；Cross PEPoint makees tangent lines of the ellipse B near E points, obtains PEE1；
The linking being used between ellipse by above step, the common tangent that will be obtained, makes the path of generation more safe and smooth；
5th step, the path planning based on oval tangent line construction
The starting point for setting mobile robot is S, and impact point is E, and path planning is carried out as follows：
1) the most short principle of line segment between 2 points is followed, is recalled from impact point E, make line segment ES；If not touching obstacle
Thing, then the line segment is optimal path, and path planning terminates, if touching barrier, into step 2)；
2) when barrier K is met in the path recalled from E0When, to barrier region K0Ellipse fitting is carried out, into step 3)；
3) E points and S points are crossed respectively to oval O0ES is obtained as tangent line1、ES2And SE1、SE2；
4) for S1E、S2E、SE1、SE2Four single sub paths, respectively with S1、S2, S, S be starting point, E, E, E1、E2It is impact point point
Do not carry out since step 1) recurrence judge that the point on one of ellipse is to another oval tangent line according in the 4th step
The approximate common tangent generation of ellipse and optimization method optimize, until being tied when all subpaths are all with barrier zone collisionless point
Beam recurrence；
5) according to the principle that point-to-point transmission line segment is most short, the non-adjacent points to the clear collision therebetween of every paths carry out connecting excellent
Change is processed, and is so far generated with S as starting point, and E is all alternative paths of impact point；
6) cost judge is carried out to every paths；
7) optimal path in all alternative paths is obtained, wherein SA, BC, DE is line segment, and AB, CD are the oval arc side of correspondence；
So far, path planning is finished.
2. it is according to claim 1 it is a kind of based on oval tangent line construction robot path planning method, it is characterised in that：
Ellipse fitting algorithm described in second step is direct computing method, least square method or least square intermediate value method.
3. a kind of robot path planning method based on oval tangent line construction according to claim 1 and 2, its feature exists
In：5th step 6) described in cost judge evaluation function be in cost, corner cost, time cost or speed penalty
One or more.
4. a kind of robot path planning method based on oval tangent line construction according to claim 1 and 2, its feature exists
In：5th step 6) described in the evaluation function judged of cost use apart from cost and corner cost, by formula (1) Suo Shi to every
Paths are estimated：
P (S, E)=D (S, E)+Y (S, E) (1)
Wherein, total cost that P (S, E) is paid by Robot Selection current path, D (S, E) is Robot Selection current path
The corner cost paid by Robot Selection current path apart from cost, Y (S, E) paid.
5. it is according to claim 3 it is a kind of based on oval tangent line construction robot path planning method, it is characterised in that：
5th step 6) described in the evaluation function judged of cost use apart from cost and corner cost, by formula (1) Suo Shi to every
Path is estimated：
P (S, E)=D (S, E)+Y (S, E) (1)
Wherein, total cost that P (S, E) is paid by Robot Selection current path, D (S, E) is Robot Selection current path
The corner cost paid by Robot Selection current path apart from cost, Y (S, E) paid.
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