CN107728608A - A kind of method for planning path for mobile robot - Google Patents
A kind of method for planning path for mobile robot Download PDFInfo
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- CN107728608A CN107728608A CN201610648766.XA CN201610648766A CN107728608A CN 107728608 A CN107728608 A CN 107728608A CN 201610648766 A CN201610648766 A CN 201610648766A CN 107728608 A CN107728608 A CN 107728608A
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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
- G05D1/0217—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with energy consumption, time reduction or distance reduction criteria
Abstract
The present invention relates to a kind of method for planning path for mobile robot, can be referred to as continuous circular channel.According to the method, all planes for reaching of being movable to are considered as passage by mobile robot, the reach home pilot process of position of mobile robot starting point and needing is connected with each other passages by one or more and formed, and the center of circle connecting line of the circle drawn in passage according to certain rule is exactly the path of mobile robot, because this circle generation has uniqueness, therefore, path in each passage has uniqueness, robot need not be selected and calculated, this method for planning path for mobile robot can allow one suitable walking path of robot quick obtaining, although it is not most short, but can reach.The barrier-avoiding method present invention advances in the paths to robot simultaneously when is illustrated.
Description
Technical field
The present invention relates to a kind of method for planning path for mobile robot, can be referred to as continuous circular channel.According to the method,
All planes for reaching of being movable to are considered as passage by mobile robot, mobile robot starting point and need position of reaching home
Pilot process is connected with each other passage by one or more and formed, and the center of circle of the circle drawn in passage according to certain rule
Connecting line is exactly the path of mobile robot, because this circle generation has uniqueness, therefore, the path in each passage
With uniqueness, robot need not be selected and calculated, and this method for planning path for mobile robot can allow robot quick
A suitable walking path is obtained, although not being most short, but can reach.The present invention is simultaneously to robot on road
Barrier-avoiding method when being advanced in footpath is illustrated.The present invention is very easy to the user using robot, be adapted to environment and
The relatively-stationary house of equipment, office, reception hall, hotel guest room, school, club etc..
Background technology
, it is necessary to carry out Path Recognition and decision-making when mobile robot faces complex environment.How to be rapidly completed to complexity
The analysis of environment, and correct decisions are made, it is an important step in mobile robot programming.Path planning is mobile
Indispensable important component in robot navigation's technology, it requires robot according to the instruction and environmental information given certainly
Determine path, avoiding obstacles, according to certain optimizing index, to make system be transferred to mesh from starting point within the defined time mainly
Punctuate.Path planning has Global motion planning and sector planning.
Global path planning includes method Grid Method, Visual Graph method, topological approach, free-space Method, artificial neural network.
Grid Method is to study one of widest paths planning method at present.This method divides the working space of robot
Solve as multiple simple region grids, an explicit connected graph is formed by these grids, or formed in search procedure hidden
The connected graph of formula, one is then searched on the diagram from starting grid to the path of target grid.But the direct shadow of division of grid
Its program results is rung, if grid division is excessive, environmental information reserves are small, and resolution ratio declines, and planning ability is with regard to poor;
Grid division is too small, planning time length, and the requirement to information storage capability can sharply increase.
Visual Graph method.Path profile in graph search method is present in robot one dimensional network curve by what is captured（Referred to as
Path profile）Node composition in free space.The path profile set up can be regarded as a series of standard routes.The method energy
Enough try to achieve shortest path, but the size for ignoring robot need to be assumed so that robot break the barriers summit when from barrier
Hinder thing too near or even contact, and search time is grown.
Topological approach.Planning space is divided into the subspace with topological characteristic, according to mutual connective building topology
Network, starting point is found on network to the topological path of target point, geometric path is finally obtained by topological path.Shortcoming
Be building topology network process it is considerably complicated, particularly how effectively to correct existing open up when increasing barrier
Rush the net is to have the problem of to be solved.
Free-space Method.Free space is constructed using basic configurations such as pre-defined generalized conicals or convex polygon, and
Free space is expressed as connected graph, path planning is carried out by searching for connected graph.Its advantage is that comparison is flexible, starting point
Change with target point will not cause the reconstruct of connected graph.Shortcoming is that complexity is directly proportional to the number of barrier, and sometimes
Shortest path can not be obtained.
Artificial neural network.It is the self-adaptation nonlinear dynamical system being interconnected to form by a large amount of neurons.Nerve
Obstacles Constraints are converted into a penalty, so that a constrained optimization is asked in the application of global path planning by network
Topic be converted into a Unconstrained Optimization Problem, then with neutral net come describe collide penalty, carry out global path
Planning.Although neutral net has the advantages that learning ability is strong in path planning, overall applicability is not extremely successful, master
To want reason be that the environment that intelligent robot is run into is Protean, random, and is difficult to be retouched with the formula of mathematics
State.
Local paths planning include Artificial Potential Field Method, fuzzy logic control algorithm, ant colony optimization algorithm, particle cluster algorithm,
Rolling window method etc..
The content of the invention
The service robot of current application uses Grid Method more, but the division of grid directly affects its program results, if
Grid division is excessive, and environmental information reserves are small, and resolution ratio declines, and planning ability is with regard to poor;Grid division is too small, planning
Time is grown, and the requirement to information storage capability can sharply increase, in the complicated Interior Space such as house, office, hotel guest room
Between when applying, Grid Method is poor using experiencing because zero planning time is grown, and also has a segment distance, other Visual Graphs from practical application
Four kinds of methods such as method, topological approach, free-space Method, artificial neural network, which equally exist, can not tackle house, office, hotel visitor
The problem of complicated indoor particulate matters such as room, being badly in need of will a kind of simple, reliable paths planning method.Continuous circular channel path rule
The method of drawing just is specific to the complex spaces such as house, office, hotel guest room and is designed, and quickly can be advised to service robot
Rational Path of the standardized bar from starting point to terminal（Continuously round center of circle connecting line overall length is most short）Although this paths is with respect to it
The result of its path planning scheme is not most short, but most can calculate soon, and be safe, in walking process
In, running into barrier can recalculate, strong adaptability, wide adaptability.
In Fig. 1, continuous circular channel paths planning method is that robot obtains from laser navigation gear or depth of field sensor
After SLAM maps, robot is from starting point, first with robot position（That is robot center chassis, it is desirable to machine
People's center chassis is from nearest barrier/border at least 1.2 times of robot chassis radius distances）For the center of circle draw one it is maximum
Circle, this circle is using any border touched first on map as limitation point（Both the center of circle to the length of nearest boundary point be half
Footpath, this radius are not less than r, r=robots chassis radius * 1.2）, then draw next circle and with first round circumference
Be some the center of circle, the circumference upper drawing circle in next circle is fallen with least two boundary point, and the radius justified is not less than r（R=machines
Device people chassis radius * 1.2）.Wherein r is to use an empirical value, is typically set at robot chassis radius * 1.2, can be according to machine
Device people orthographic projection and the inclusion relation on robot chassis are adjusted, if robot orthographic projection is completely in robot chassis and covered
In the range of lid, then r values can suitably be turned down to robot chassis radius * 1.1 or even just take robot chassis radius value, if machine
People's orthographic projection exceeds robot chassis coverage, then r values can be tuned up suitably.
In fig. 2, if only drawing a qualified circle as the center of circle using first round circumference, this circle and initial circle
The region that interactive connection is formed is exactly a most basic robot path passage, referred to as continuous circular channel unit, and two circles
The heart connects the track route that the connecting line to be formed is exactly robot, by that analogy, it is multiple circle interactive connection form and with connect
The region of the Origin And Destination function of welding robot movement is exactly robot path passage, referred to as continuous circular channel.Therefore, continuously
Circular channel is made up of multiple continuous circular channel units, and all centers of circle connect the row that the connecting line to be formed is exactly robot
Walk route.
In figure 3, if multiple suitable circles can be drawn by the center of circle of first round circumference, it is possible to there is two kinds of feelings
Condition, the first situation are that same passage aspect has two kinds and the scheme with upper drawing circle, and these circles are all with least two boundary point
Fall the circumference upper drawing circle in next circle, and the radius of circle is not less than r（R=robots chassis radius * 1.2）, such case
Feature is that these border circular areas have high superposed, and we take a micro-judgment value 50%, i.e., if multiple circles two-by-two between it is overlapping
Area be considered as same passage up to 50% in terms of circle, at this moment taking a circle of maximum, this is justified as final circular pattern
The region formed with a series of upper circle interactive connection is exactly robot path passage, referred to as continuous circular channel.
In Fig. 4, second of situation is the channel direction there is two and the above, therefore, in each channel direction
A greatest circle can be obtained by the first situation way and intersects company with a series of upper circles as final circular pattern, this circle
The region for connecing composition is exactly robot path passage, referred to as continuous circular channel.
Previous passage is given for change in order to avoid finding passage each time, it is desirable to the center of circle must be uncrossed from a upper border circular areas
Comprising circumference on obtain.
According to this rule, whole map is traveled through, each passage is penetrated or reached the end to justify interconnection.Pass through
This passage of unifier table converges in end and another passage, and two robot ambulation routes connect, and connection method is one
The center of circle of last circle of individual channel end is attached with a nearest round center of circle for another attachable passage,
This connecting line be exactly track route and wiring.The arrival end represents this passage can not be moved ahead, last circle
The region at place is the most remote areas that robot reaches this passage.
Robot path planning method：From robot starting point to target point, most short track route is robot first choice
Track route, it shows as several broken lines and straight line two parts of last center of circle and target point for being linked in sequence, often
Section broken line is all a round radius, and the radius round from first contacts to the end or the radius of the circle of coverage goal point.Due to
Passage is often irregular, and therefore, each round radius is usual and different, it is meant that robot is every time along two center of circle sides
Distance to walking is simultaneously different.
Because the track route in a passage is unique, in the absence of optimized algorithm, but during there are multiple passages
In, when especially connection connects the passage of insertion, that most short access path of the broken line total length finally connected should be selected.
Obstacle Avoidance：The path that robot obtains according to calculating runs into facing for forward path during traveling
When barrier when, after avoidance action is made by robot, first attempt to continue to the home position that next plan reaches, if
The home position that next plan reaches is stopped by barrier, then route is set to ensuing one to postpone
Home position, so continue, until robot reaches an immediate home position.Certainly, barrier perhaps can be complete
Block channel, cause robot can not detour some home position, at this moment robot only obtains Article 2 road from SLAM maps
Footpath continues to move ahead, and such as without alternative route, then robot judges path blocks, can not arrive at, and is carried out according to prediction scheme next
Step operation.
The invention has the advantages that provide a kind of simple, reliable path for the movement in robot space indoors
Planing method, robot can quickly calculate and plan an available path from starting point to terminal（Continuously round center of circle connection
Shortest path in method）Although the result of the relatively other path planning schemes of this paths is not most short, but can be most
Calculate soon, and be safe, in the process of walking, run into after avoidance action is made by barrier robot to count again
Calculate, first attempt to continue to the home position that next plan reaches, if the home position that next plan reaches is
Stopped by barrier, then route is set to the ensuing home position postponed, so continue, until robot
Reach an immediate home position.The strainable ability of this method is strong, wide adaptability.This mobile robot path planning
The complex spaces such as suitable house, office, hotel guest room.
Brief description of the drawings
Fig. 1 is continuous circular channel paths planning method figure.
Fig. 2 is the track route figure of robot.
Fig. 3 is contact target point mode.
Fig. 4 is that target point mode is completely covered.
Fig. 5 is indoor plane figure.
Fig. 6 is robot construction map.
Fig. 7 is that robot travels through all circles drawn after map.
Fig. 8 is that robot path is shown and path planning.
Embodiment
In Figure 5, after robot carries out an environment space place first, entered using laser radar or depth of field camera
Row positions immediately and map structuring（SLAM）, map is obtained, and path planning is carried out according to continuous circular channel method, as we allow
One service robot enters in the following hall of a Room one, sets air-conditioning side of the starting point as parlor, terminal is master bedroom
Before bed, then start and navigated using laser radar or depth of field camera.
In figure 6, robot carries out positioning and map structuring immediately using laser radar（SLAM）, obtain as follows
Figure, map employ continuous lines to border and modified.
In the figure 7, robot carries out path planning according to continuous circular channel method, robot from starting point, first with
Robot position（Robot center chassis）A maximum circle is drawn for the center of circle, this circle is contacted first with any on map
The border arrived is limitation point（Both the center of circle was radius to the length of nearest boundary point, and this radius is not less than r, r=robots bottom
Disk radius * 1.2）, then next circle with first round circumference a little for the center of circle, fallen with least two boundary point under
One round circumference upper drawing circle, and the radius of circle is not less than r（R=robots chassis radius * 1.2）.According to this rule, traversal
Whole map, each passage is penetrated or reached the end to justify interconnection.Insertion represent this passage end with it is another
One passage converges, and the arrival end represents this passage can not be moved ahead, and the region where last circle is machine
People reaches the most remote areas of this passage.
In fig. 8, all centers of circle are sequentially connected, and connecting line is the path that robot can walk, and is then calculated from
Point has 1 and 2 two kind of optional route scheme, 2 walking scheme is since the 3rd circle to the feasible program of terminal in figure
Another passage has been walked downwards, and has been converged in the 3rd home position of scheme 1 with 2, and both carry out length comparison, scheme 1
Distance be shorter than scheme 2, therefore, scheme 1 has preferred scheme, the path as robot.
Claims (9)
1. the present invention relates to a kind of method for planning path for mobile robot, continuous circular channel can be referred to as.
2. it is characterized in that：According to the method, all planes for reaching of being movable to are considered as passage, moving machine by mobile robot
The reach home pilot process of position of device people starting point and needing is connected with each other passages by one or more and formed, and in passage
The center of circle connecting line of the interior circle drawn according to certain rule is exactly the path of mobile robot, because this circle generation has uniquely
Property, therefore, the path in each passage has uniqueness, and robot need not be selected and calculated, this mobile machine
People's paths planning method can allow one suitable walking path of robot quick obtaining, although not being most short, but can be with
Reach.
3. the present invention relates to a kind of method for planning path for mobile robot, it is characterized in that：Robot is from starting point, first with machine
Device people position（Robot center chassis）A maximum circle is drawn for the center of circle, this circle is touched first with any on map
Border for limitation point（Both the center of circle was radius to the length of nearest boundary point, and this radius is not less than r, r=robots chassis
Radius * 1.2）, then draw next circle and, a little for the center of circle, to fall on first round circumference with least two boundary point
The circumference upper drawing circle of next circle, and the radius of circle is not less than r（R=robots chassis radius * 1.2）.
4. the present invention relates to a kind of method for planning path for mobile robot, it is characterized in that：Above-mentioned r is to use an empirical value,
Robot chassis radius * 1.2 is typically set at, can be adjusted according to robot orthographic projection and the inclusion relation on robot chassis
Whole, if robot orthographic projection is completely in robot chassis coverage, r values can be turned down suitably to robot chassis half
Footpath * 1.1 even just takes robot chassis radius value, if robot orthographic projection exceeds robot chassis coverage, r values can
Suitably tune up.
5. the present invention relates to a kind of method for planning path for mobile robot, it is characterized in that：If using first round circumference as circle
The heart only draws a qualified circle, and this circle and the initial round region formed that interconnects are exactly a most basic robot
Outlet openings, referred to as continuous circular channel unit, and two centers of circle connect the track route that the connecting line to be formed is exactly robot, with
This analogizes, and the region of Origin And Destination function that multiple circle interactive connection are formed and with the movement of connection robot is exactly machine
People's outlet openings, referred to as continuous circular channel.
6. the present invention relates to a kind of method for planning path for mobile robot, it is characterized in that：If using first round circumference as circle
The heart can draw multiple suitable circles, it is possible to have two kinds of situations：The first situation be have in terms of same passage two kinds and more than
The scheme of circle is drawn, these circles are all to fall circumference upper drawing circle in next circle with least two boundary point, and the radius of circle is not less than
r（R=robots chassis radius * 1.2）, it is that these border circular areas have high superposed the characteristics of such case, we take a warp
Test judgment value 50%, i.e., if multiple circles two-by-two between overlapping area up to the circle in terms of being considered as same passage if 50%, at this moment take
A maximum circle is as final circular pattern；Second of situation is the channel direction there is two and the above, therefore,
Each channel direction can be obtained a greatest circle as final circular pattern by the first situation way, this circle with it is upper
A series of region that round interconnections are formed is exactly robot path passage, referred to as continuous circular channel.
7. the present invention relates to a kind of method for planning path for mobile robot, it is characterized in that：Whole map is traveled through according to above-mentioned rule,
Each passage is penetrated or reached the end to justify interconnection；Insertion represents this passage and converged in end and another passage
Close, two robot ambulation routes are connected, and the arrival end represents this passage can not be moved ahead, last circle
The region at place is the most remote areas that robot reaches this passage.
8. the present invention relates to a kind of method for planning path for mobile robot, it is characterized in that：Robot path planning method：From machine
People's starting point is the preferred track route of robot to target point, most short track route, and it shows as several and is linked in sequence
Broken line and straight line two parts of last center of circle and target point, due to the track route in a passage be it is unique, no
Optimized algorithm be present, but during occur in multiple passages, especially the passage of connection connection insertion when, should select finally to connect
Most short that access path of broken line total length.
9. the present invention relates to a kind of method for planning path for mobile robot, it is characterized in that：Obstacle Avoidance is：Robot is pressed
According to calculate obtain path during traveling, when running into the temporary obstructions of forward path, robot make avoidance action after,
First attempt to continue to the home position that next plan reaches, if the home position that next plan reaches is hindered
Hinder thing to be stopped, then route is set to the ensuing home position postponed, so continue, until robot can arrive
Up to an immediate home position.
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109297496A (en) * | 2018-09-29 | 2019-02-01 | 上海新世纪机器人有限公司 | Robot localization method and device based on SLAM |
| CN110561417A (en) * | 2019-08-05 | 2019-12-13 | 华中科技大学 | Multi-agent collision-free track planning method |
| CN110727272A (en) * | 2019-11-11 | 2020-01-24 | 广州赛特智能科技有限公司 | Path planning and scheduling system and method for multiple robots |
| CN110906947A (en) * | 2019-12-04 | 2020-03-24 | 山东省科学院自动化研究所 | Slime RRT navigation method and system based on two-dimensional static path planning |
| CN111366163A (en) * | 2018-12-25 | 2020-07-03 | 北京欣奕华科技有限公司 | Topological map processing method and device and storage medium |
| CN111376272A (en) * | 2020-04-01 | 2020-07-07 | 中国航空制造技术研究院 | Robot measurement path planning method for three-dimensional scanning process of shell structure |
| WO2021008058A1 (en) * | 2018-10-31 | 2021-01-21 | 苏州科瓴精密机械科技有限公司 | Walking robot control method and system |
| CN116107321A (en) * | 2023-04-13 | 2023-05-12 | 无锡科技职业学院 | Unmanned vehicle path planning system and method based on vision and laser radar fusion |
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2016
- 2016-08-10 CN CN201610648766.XA patent/CN107728608A/en active Pending
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109297496A (en) * | 2018-09-29 | 2019-02-01 | 上海新世纪机器人有限公司 | Robot localization method and device based on SLAM |
| WO2021008058A1 (en) * | 2018-10-31 | 2021-01-21 | 苏州科瓴精密机械科技有限公司 | Walking robot control method and system |
| CN111366163A (en) * | 2018-12-25 | 2020-07-03 | 北京欣奕华科技有限公司 | Topological map processing method and device and storage medium |
| CN111366163B (en) * | 2018-12-25 | 2023-06-02 | 北京欣奕华科技有限公司 | Topological map processing method, device and storage medium |
| CN110561417A (en) * | 2019-08-05 | 2019-12-13 | 华中科技大学 | Multi-agent collision-free track planning method |
| CN110727272A (en) * | 2019-11-11 | 2020-01-24 | 广州赛特智能科技有限公司 | Path planning and scheduling system and method for multiple robots |
| CN110727272B (en) * | 2019-11-11 | 2023-04-18 | 广州赛特智能科技有限公司 | Path planning and scheduling system and method for multiple robots |
| CN110906947A (en) * | 2019-12-04 | 2020-03-24 | 山东省科学院自动化研究所 | Slime RRT navigation method and system based on two-dimensional static path planning |
| CN110906947B (en) * | 2019-12-04 | 2022-05-17 | 山东省科学院自动化研究所 | Slime RRT navigation method and system based on two-dimensional static path planning |
| CN111376272A (en) * | 2020-04-01 | 2020-07-07 | 中国航空制造技术研究院 | Robot measurement path planning method for three-dimensional scanning process of shell structure |
| CN111376272B (en) * | 2020-04-01 | 2021-08-13 | 中国航空制造技术研究院 | Robot measurement path planning method for three-dimensional scanning process of shell structure |
| CN116107321A (en) * | 2023-04-13 | 2023-05-12 | 无锡科技职业学院 | Unmanned vehicle path planning system and method based on vision and laser radar fusion |
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