CN108073166A - A kind of shortest time obstacle-avoiding route planning method - Google Patents
A kind of shortest time obstacle-avoiding route planning method Download PDFInfo
- Publication number
- CN108073166A CN108073166A CN201611006076.0A CN201611006076A CN108073166A CN 108073166 A CN108073166 A CN 108073166A CN 201611006076 A CN201611006076 A CN 201611006076A CN 108073166 A CN108073166 A CN 108073166A
- Authority
- CN
- China
- Prior art keywords
- point
- robot
- avoidance
- time
- path
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 31
- 230000004888 barrier function Effects 0.000 claims abstract description 16
- 230000006870 function Effects 0.000 claims description 3
- 230000008447 perception Effects 0.000 claims description 3
- 230000006735 deficit Effects 0.000 abstract 1
- 238000005457 optimization Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 230000002068 genetic effect Effects 0.000 description 1
- 230000003534 oscillatory effect Effects 0.000 description 1
- 230000011218 segmentation Effects 0.000 description 1
- 238000002922 simulated annealing Methods 0.000 description 1
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of paths planning method for robot obstacle-avoiding, applied to mobile robot path planning field.The method cooks up the shortest time path according to the speed of service, landform and barrier of robot.The method of the invention includes：The complaint message that basis perceives first confirms obstacle point, then calculates time-consuming, the time-consuming minimum as final path planning of every path candidate.The method is without global map information, it is only necessary to partial impairment information, therefore can also implement on the platform that can only obtain limited environment information.Meanwhile method provided by the invention has certain universality, at preferable place, robot uniform motion, the method deteriorates to a kind of shortest path planning method.
Description
Technical field
The path planning field of design automation control field of the present invention more particularly to mobile robot.
Background technology
Path planning is one of important step of robot navigation's research.When robot performs task, it is desirable that robot
Optimal from origin to objective can be searched for according to certain evaluation criterion in the work environment or compared with shortest path.
The path planning of mobile robot is according to the whether known global path planning being divided into based on map of environment and based on sensor
Local paths planning.Global path planning based on map is because important affair first knows global context application range relatively has
Limit.Sensor-based local paths planning method usually has：Artificial Potential Field Method, genetic algorithm, simulated annealing, ant colony are calculated
Method.Wherein Artificial Potential Field Method has preferable real-time, but can cause target that cannot reach because of local minimum, in barrier
It is possible that oscillatory occurences when nearby, behind several algorithms one be that computing cost is larger second is that there are search process, so real
When property is not strong.
And a main cause of path planning is exactly the presence of obstacle, so can be solved for the paths planning method of avoidance
Certainly most of problem of path planning.
The content of the invention
The present invention provides a kind of shortest time obstacle-avoiding route planning method, is a kind of local paths planning method, for machine
The barrier run into device people operation carries out avoidance path optimization, and the target of optimization is to make the estimated time of detouring most short.This hair
Bright advantage, to the of less demanding of sensor, only needs acquired disturbance object partial geometry shape, to barrier without global map
The perception of global shape can be completed in robot moving process.
The technical solution adopted by the present invention is：It is first determined whether there is barrier, if barrier occurs in front, then according to barrier
Object information is hindered to determine avoidance point.The path candidate formed according to avoidance point is calculated again and is calculated is expected to take per paths.It takes
Shortest path is final path.Technical scheme general flow chart is as shown in Figure 1.
The present invention realizes that step is as follows：
（1）Disturbance of perception object, if there is barrier then performs step（2）, otherwise perform step（7）；
（2）Each avoidance point of avoidance point is confirmed according to the obstacle information perceivedG i ；
（3）Each paths are marked according to avoidance pointL i , avoidance nodeG i By pathL i Being divided into length isD i1 WithD i2 Two parts；
（4）Usage time calculates functiont=H(D)The movement for calculating two segmentations takest i1 =H(D i1 ), t i2 =H(D i2 )；
（5）Calculate taking per pathsT i = t i1 + t i2 ；
（6）Time-consuming shortest path is provided, is terminated；
（7）To outbound path, path is terminated to go directly to target location.
The time calculates function and is determined by specifically used environment.
The determination process of the avoidance point is as follows：
（1）The one side of barrier towards robot is abstracted into a line segment.
（2）Using two of line segment short points as the center of circle,RJustify for radius work, make the common tangent of two circles in the one side by robot.
（3）Extend at two point of contacts to both sidesRThe distance of length is candidate's avoidance point, records candidate's avoidance point.
（4）If certain end point of line segment is the public point with another line segment, corresponding candidate's avoidance point at this endpoint
It is unavailable, the corresponding candidate's avoidance point of another endpoint on another line segment should be used at this time.
（5）If the endpoint at the candidate's avoidance point more corrected one's mistakes is still public point, repeat the above process.
（6）Passable point is avoidance point in candidate's avoidance point.
It is described,It is robot minimum by width,For robot traveling error.
Description of the drawings
A kind of shortest time obstacle-avoiding route planning method general flow charts of Fig. 1.
A kind of shortest time obstacle-avoiding route planning method specific implementation schematic diagrams of Fig. 2.
Specific embodiment
With reference to specific embodiment, the present invention is further explained.These embodiments are merely to illustrate the present invention and do not have to
In limitation the scope of protection of present invention.
As shown in Fig. 2, robot present position isQ, target object is in positionDPlace.Robot only detects in whole process
To barrier section shape.Whole process is as follows：
（1）Robot existsQFront is detected at position barrier, can only determine barrier shaped like line segment, two-end-point point at this time
It is notAWithB。
（2）Respectively withAWithBFor the center of circle,RJustify for radius work, do the common tangent of two circles in robot one side, it is past respectively at two point of contacts
Outer extensionR, it is denoted as respectivelyA’WithB’。
（3）A’WithB’All for can by point, soA’WithB’All it is candidate's avoidance point, therefore two path candidates are respectivelyQ A’ DWithQ B’D。
（4）As can be seen from the figure broken lineQ A’DLength be less thanQ B’D, it is assumed that robot always be uniform motion soT Q A’D <T Q B’D .Then the path of robot planning isQ A’D。
（5）When robot reachesA’During point, barrier is detectedACLine segment part.Respectively withAWithCFor the center of circle,RMake for radius
Circle, the common tangent of two circles is done in robot one side, is extended outward respectively at two point of contactsR, it is denoted as respectivelyA’’WithC’。
（6）Because being common point, then selectBFind candidate's avoidance point in place.Therefore candidate's avoidance point of current generation isC’WithB’。
（7）As can be seen from the figure broken lineA’C’DLength be less thanA’B’D, it is assumed that robot always be uniform motion soT A’C’D <T A’B’D .Then the path of robot planning isA’C’D。
（8）Robot reachesC’Target location is gone directly to after pointD。
Claims (5)
1. a kind of shortest time obstacle-avoiding route planning method, it is characterised in that step is as follows：
(1) disturbance of perception object if there is barrier then performs step (2), otherwise performs step (7)；
(2) each avoidance point G of avoidance point is confirmed according to the obstacle information perceivedi；
(3) each paths L is marked according to avoidance pointi, avoidance node GiBy path LiIt is divided into length for Di1And Di2Two parts；
(4) usage time calculates two movements being segmented of function t=H (D) calculating and takes ti1=H (Di1), ti2=H (Di2)；
(5) the time-consuming T per paths is calculatedi=ti1+ti2；
(6) time-consuming shortest path is provided, is terminated；
(7) to outbound path, path is terminated to go directly to target location.
2. method according to claim 1, it is characterised in that：The definite method of the avoidance point is as follows：
(1) one side of barrier towards robot is abstracted into a line segment；
(2) using two of line segment short points as the center of circle, R justifies for radius work, makees the common tangent of two circles in the one side by robot；
(3) distance to both sides extension R length at two point of contacts is candidate's avoidance point, records candidate's avoidance point；
(4) if certain end point of line segment is the public point with another line segment, corresponding candidate's avoidance point at this endpoint
It is unavailable, the corresponding candidate's avoidance point of another endpoint on another line segment should be used at this time；
(5) if the endpoint at the candidate's avoidance point more corrected one's mistakes is still public point, repeat the above process；
(6) passable point is avoidance point in candidate's avoidance point.
3. the method according to claim 1, it is characterised in that：The time calculates function t=H (D) depending on specifically used
Environment and the robot speed of service.
4. method according to claim 1, it is characterised in that：Complaint message includes currently detected complaint message and history
Complaint message, therefore can draw out the partial shape of barrier after robot runs a period of time.
5. method according to claim 2, it is characterised in that：The R=w/2+ δ, w for robot minimum by width, δ is
Robot traveling error.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611006076.0A CN108073166A (en) | 2016-11-16 | 2016-11-16 | A kind of shortest time obstacle-avoiding route planning method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611006076.0A CN108073166A (en) | 2016-11-16 | 2016-11-16 | A kind of shortest time obstacle-avoiding route planning method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108073166A true CN108073166A (en) | 2018-05-25 |
Family
ID=62162689
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611006076.0A Pending CN108073166A (en) | 2016-11-16 | 2016-11-16 | A kind of shortest time obstacle-avoiding route planning method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108073166A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109062215A (en) * | 2018-08-24 | 2018-12-21 | 北京京东尚科信息技术有限公司 | Robot and barrier-avoiding method, system, equipment and medium are followed based on its target |
| CN109059903A (en) * | 2018-08-21 | 2018-12-21 | 北京云迹科技有限公司 | Paths planning method and distributed robot |
| CN109976343A (en) * | 2019-03-26 | 2019-07-05 | 电子科技大学 | A kind of automatic obstacle avoidance method based on dynamic window method |
| CN113062697A (en) * | 2021-04-29 | 2021-07-02 | 北京三一智造科技有限公司 | Drill rod loading and unloading control method and device and drill rod loading and unloading equipment |
| CN116203970A (en) * | 2023-04-27 | 2023-06-02 | 泰坦(天津)能源技术有限公司 | Intelligent obstacle avoidance method and system for inspection robot |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2009040064A1 (en) * | 2007-09-20 | 2009-04-02 | Michael Naderhirn | Method for automatically avoiding collisions of a vehicle with other objects |
| CN101826122A (en) * | 2010-01-18 | 2010-09-08 | 吉林大学 | Method for avoiding obstacles based on blocking corners in pedestrian simulation |
| CN105843234A (en) * | 2016-05-12 | 2016-08-10 | 哈尔滨工程大学 | Two-dimensional route planning method for UUV to geometrically bypass circular barriers |
| CN106054882A (en) * | 2016-06-15 | 2016-10-26 | 深圳市金佰科创发展有限公司 | Robot obstacle avoidance method |
-
2016
- 2016-11-16 CN CN201611006076.0A patent/CN108073166A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2009040064A1 (en) * | 2007-09-20 | 2009-04-02 | Michael Naderhirn | Method for automatically avoiding collisions of a vehicle with other objects |
| CN101826122A (en) * | 2010-01-18 | 2010-09-08 | 吉林大学 | Method for avoiding obstacles based on blocking corners in pedestrian simulation |
| CN105843234A (en) * | 2016-05-12 | 2016-08-10 | 哈尔滨工程大学 | Two-dimensional route planning method for UUV to geometrically bypass circular barriers |
| CN106054882A (en) * | 2016-06-15 | 2016-10-26 | 深圳市金佰科创发展有限公司 | Robot obstacle avoidance method |
Non-Patent Citations (5)
| Title |
|---|
| 吴元清 等: "机器人避障问题", 《四川职业技术学院学报》 * |
| 吴彬 等: "机器人避障行走的最短路径", 《南通职业大学学报》 * |
| 田敏 等: "基于最优化的机器人避障路径规划的研究", 《通化师范学院学报(自然科学)》 * |
| 贾洪飞 等: "基于阻塞角的行人仿真中避碰方法", 《吉林大学学报（工学版）》 * |
| 陈卫忠 等: "基于机器人避障问题的数学模型", 《长春大学学报》 * |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109059903A (en) * | 2018-08-21 | 2018-12-21 | 北京云迹科技有限公司 | Paths planning method and distributed robot |
| CN109062215A (en) * | 2018-08-24 | 2018-12-21 | 北京京东尚科信息技术有限公司 | Robot and barrier-avoiding method, system, equipment and medium are followed based on its target |
| CN109976343A (en) * | 2019-03-26 | 2019-07-05 | 电子科技大学 | A kind of automatic obstacle avoidance method based on dynamic window method |
| CN113062697A (en) * | 2021-04-29 | 2021-07-02 | 北京三一智造科技有限公司 | Drill rod loading and unloading control method and device and drill rod loading and unloading equipment |
| CN113062697B (en) * | 2021-04-29 | 2023-10-31 | 北京三一智造科技有限公司 | Drill rod loading and unloading control method and device and drill rod loading and unloading equipment |
| CN116203970A (en) * | 2023-04-27 | 2023-06-02 | 泰坦(天津)能源技术有限公司 | Intelligent obstacle avoidance method and system for inspection robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108073166A (en) | A kind of shortest time obstacle-avoiding route planning method | |
| CN105629974B (en) | A kind of robot path planning method and system based on modified Artificial Potential Field Method | |
| KR101976241B1 (en) | Map building system and its method based on multi-robot localization | |
| US10248126B2 (en) | Obstacle avoidance walking method of self-moving robot | |
| KR102282367B1 (en) | System and Method for Location Determination, Mapping, and Data Management through Crowdsourcing | |
| EP3136128B1 (en) | Trajectory matching using peripheral signal | |
| WO2021135813A1 (en) | Robot joint mapping method and device, and computer-readable storage medium | |
| EP3660618A1 (en) | Map construction and positioning of robot | |
| CN107437122B (en) | Determine that businessman dispenses the method and device of range | |
| JP6211568B2 (en) | System and method for determining a route based on selection | |
| KR20210053323A (en) | Dynamic probability motion planning | |
| KR102445731B1 (en) | How to predict and control the robot's driving | |
| CN103294054B (en) | A kind of robot navigation method and system | |
| CN108241369B (en) | Method and device for avoiding static obstacle for robot | |
| CN105929824B (en) | A kind of UUV two dimension Route planners based on geometry detour principle | |
| CN106017486A (en) | Trajectory inflection point filter-based map location method for unmanned vehicle navigation | |
| CN104197947A (en) | Route recommendation method and system | |
| CN109634284A (en) | The paths planning method of robot actuating station avoidance based on nested three points of algorithms | |
| CN103712629A (en) | Multi-destination path navigation method | |
| CN106840169A (en) | For the improved method of robot path planning | |
| CN104618869A (en) | Indoor positioning method and device | |
| KR20170020037A (en) | Method for updating Navigation Map | |
| CN104034338A (en) | Dynamic navigation method and device | |
| CN108387233B (en) | Pedestrian motion mode judgment method based on fuzzy logic | |
| WO2022116831A1 (en) | Positioning method and apparatus, electronic device and readable storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180525 |