CN109540146A - Paths planning method and device - Google Patents
Paths planning method and device Download PDFInfo
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- CN109540146A CN109540146A CN201811447768.8A CN201811447768A CN109540146A CN 109540146 A CN109540146 A CN 109540146A CN 201811447768 A CN201811447768 A CN 201811447768A CN 109540146 A CN109540146 A CN 109540146A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
Abstract
The invention discloses a kind of paths planning method and devices.Wherein, this method comprises: determining grating map, wherein grating map is the map for obtain after grid division to the operation map of robot, includes multiple grids in grating map；It obtains grid and temporarily occupies table, wherein grid temporarily occupies table for storing the occupied information of the coordinate information and each robot of grid in different moments to grid；Table is temporarily occupied according to grid, determines that robot reaches the target travel path of target point from starting point, wherein target travel path includes at least: reaching the time of each grid and the stay time in grid.The present invention solves and can not solve the technical issues of multiple robots are easy to happen collision when walking on map in the related technology.
Description
Technical field
The present invention relates to Path Planning Technique fields, in particular to a kind of paths planning method and device.
Background technique
Mobile robot path planning problem in the environment of having either statically or dynamically barrier for one, gives one and rises
Point and terminal, cook up a collisionless optimal path, and mobile robot is made to arrive safe and sound terminal.
Currently, the path planning of robot is mostly the path planning based on individual machine people, when carrying out path planning, meeting
The distance and barrier arrived in view of starting point reduces path collision, selects from the smallest path of traveling cost of origin-to-destination
Then node searches out the shortest path from origin-to-destination.Since map saves whether all nodes are static barrier
The information for hindering object is generally possible to avoid static-obstacle thing node during search path, thus collisionless mesh of reaching home
Punctuate.
But this path planning mode, it can not be suitable for the path planning of multiple robots, multiple robots are expert at
The risk to conflict is generated with other mobile robots into addition to static-obstacle beyond the region of objective existence to be faced, also facing in the process.Due to moving
Mobile robot position when running on map is real-time change, and map can not save these position of mobile robot letter in advance
Breath, therefore current this path planning mode can not solve that path traveling conflict occurs between multiple robots, collide
The problem of.
For above-mentioned problem, currently no effective solution has been proposed.
Summary of the invention
The embodiment of the invention provides a kind of paths planning method and devices, at least to solve not solving in the related technology
The technical issues of multiple robots are easy to happen collision when walking on map.
According to an aspect of an embodiment of the present invention, a kind of paths planning method is provided, comprising: determine grating map,
Wherein, the grating map is the map for obtain after grid division to the operation map of robot, in the grating map
Including multiple grids；It obtains grid and temporarily occupies table, wherein the grid temporarily occupies table for storing the coordinate of the grid
Information and each robot are in different moments to the occupied information of grid；Table is temporarily occupied according to the grid, determines the machine
Device people reaches the target travel path of target point from starting point, wherein the target travel path includes at least: reaching each grid
Time and stay time in grid.
Further, temporarily occupancy table includes: the unlatching list for constructing the robot of current planning path to acquisition grid,
In, it is described to open the selectable path node that storage robot is searched in list, machine is stored in advance in the unlatching list
The starting point of people；Executive path search sub-step S1 to S4:S1 is recycled, determines the selectable path of each of the unlatching list
Node reaches the travel distance and traveling duration of target point, obtains multiple path values；S2 chooses numerical value in the multiple path values
The present node is added as present node and closes list by path node corresponding to the smallest path values, wherein institute
It states and closes the smallest path node of path values that storage robot in list reaches target point from starting point；S3 judges described current
Whether node is target point；S4 is searched for around the present node in the case where the present node is not the target point
Path node, and the unlatching list is added in the optional path node searched out；It is target point in the present node
In the case where, it is stored in closing list described in starting point Query from the target point corresponding with the target point multiple
Level father node obtains path node set until reaching the starting point；It is reached according to the path node set and robot
The time of each path node determines the grid temporarily occupancy table.
Further, it in the case where the present node is not the target point, searches for around the present node
Path node, and it includes: to obtain around the present node that the unlatching list, which is added, in the optional path node searched out
Multiple path child nodes；Judge whether each path child node around the present node searched out is target child node,
In, the type of the target child node includes at least: barrier is added and closes the node of list, the section outside current path map
Point；When each path child node around the present node is the target child node, the path child node is abandoned；?
Each path child node around the present node is not the target child node, and determines that path child node is optional road
When diameter child node, which is added the unlatching list.
Further, the unlatching list is added in path child node and comprises determining that the robot reaches the path
The time point of child node；According to the nodal information of the path child node, judge the path child node whether in the grid
It is interim to occupy in table；If the path child node temporarily occupies in table in the grid, start collision prevention strategy；If path
Node does not occupy in table temporarily in the grid, calculates the path values of path child node, and will open described in the addition of path child node
It opens in list.
Further, starting collision prevention strategy includes: to judge whether the robot can generate front with other robots and touch
It hits；If it is determined that the robot can generate head-on crash with other robots, the path child node is abandoned；If it is determined that the machine
Device people will not generate head-on crash with other robots, using waiting strategy collision prevention.
It further, include: to calculate the robot and can generate side with other robots to touch using waiting strategy collision prevention
The time point hit and collision grid；Calculate stay time；The traveling grid in front of the collision grid is reached in the robot
When, the stay time is waited in the traveling grid；After the stay time, the robot is controlled along institute
Target travel path is stated to continue to move to.
Further, in the path values for calculating path child node, and before the unlatching list is added in path child node,
Further include: it obtains the robot and reaches the first path value of the path child node from starting point and made with the path child node
The robot reaches the second path values of the path child node from starting point when for father node；It is lower than in the first path value
When second path values, the path child node is deleted from the unlatching list, and update the path child node
Father node is the present node.
Further, the path values of path child node are calculated, and it includes: to sentence that the unlatching list, which is added, in path child node
The robot that breaks from the present node is moved to whether path child node needs to turn to；If the robot is from described current
Node motion needs to turn to path child node, by the path values of the father node of the path child node add up two units when
Between；If the robot is moved to path child node from the present node and does not need to turn to, by the father of the path child node
The path values of node add up a unit time；According to the travel distance of the path child node to target point and path
The path values of the father node of node calculate total path value of the robot from starting point to target point；According to the total path value,
The unlatching list is added in path child node.
Further, each grid in the grating map has obstacle information for recording.
Further, the grid temporarily occupancy table is shared by all robots run in the grating map.
According to another aspect of an embodiment of the present invention, a kind of path planning apparatus is additionally provided, comprising: first determines list
Member, for determining grating map, wherein the grating map is obtained after carrying out grid division to the operation map of robot
Map includes multiple grids in the grating map；Acquiring unit, for obtaining grid temporarily occupancy table, wherein the grid
Interim occupancy table is used to store the occupied information of the coordinate information and each robot of the grid in different moments to grid；The
Two determination units determine that the robot reaches the target line of target point from starting point for temporarily occupying table according to the grid
Inbound path, wherein the target travel path includes at least: the time of each grid and the stay time in grid are reached.
Further, acquiring unit includes: the first building module, the unlatching of the robot for constructing current planning path
List, wherein it is described to open the selectable path node that storage robot is searched in list, it is deposited in advance in the unlatching list
Store up the starting point of robot；Loop module determines the unlatching list for recycling executive path search sub-step S1 to S4:S1
Each of selectable path node reach the travel distance and traveling duration of target point, obtain multiple path values；S2 chooses
Path node corresponding to the smallest path values of numerical value is as present node in the multiple path values, and by the present node
It is added and closes list, wherein the smallest path of path values closed storage robot in list and reach target point from starting point
Node；S3 judges whether the present node is target point；S4, in the case where the present node is not the target point,
The path node around the present node is searched for, and the unlatching list is added in the optional path node searched out；The
One enquiry module, for being described in starting point Query from the target point in the case where the present node is target point
The multiple level father nodes corresponding with the target point stored in list are closed, until reaching the starting point, obtain path section
Point set；First determining module, for reaching the time of each path node according to the path node set and robot, really
The fixed grid temporarily occupies table.
Further, the loop module includes: the first acquisition submodule, more around the present node for obtaining
A path child node；First judging submodule, whether each path child node around the present node for judging to search out
For target child node, wherein the type of the target child node includes at least: the node, current for closing list is added in barrier
Node outside path map；First abandons submodule, is described for each path child node around the present node
When target child node, the path child node is abandoned；First determines submodule, for each road around the present node
Diameter child node is not the target child node, and determine path child node be optional path child node when, by the path sub- section
The unlatching list is added in point.
Further, described first determine that submodule includes: the second determining module, for determining that the robot reaches institute
State the time point of path child node；Second judgment submodule, for the nodal information according to the path child node, described in judgement
Whether path child node temporarily occupies in table in the grid；Promoter module is used in the path child node in the grid
When lattice are temporarily occupied in table, start collision prevention strategy；First computational submodule is used in the path child node not in the grid
When in interim occupancy table, the path values of path child node are calculated, and path child node is added in the unlatching list.
Further, the promoter module includes: third judging submodule, for judging whether the robot can be with
Other robots generate head-on crash；Second abandons submodule, for determining that the robot can generate with other robots
When head-on crash, the path child node is abandoned；Collision prevention submodule, for determining that the robot will not be with other robots
When generating head-on crash, using waiting strategy collision prevention.
Further, the collision prevention submodule includes: the second computational submodule, for calculating the robot and other machines
Device people can generate time point and the collision grid of side collision；Third computational submodule, for calculating stay time；Wait submodule
Block, when for reaching the traveling grid in front of the collision grid in the robot, in the traveling grid described in waiting
Stay time；Control submodule, for controlling the robot along the target line route after stay time
Diameter continues to move to.
Further, the path planning apparatus further include: module is obtained, in the path for calculating path child node
Value, and by before the path child node addition unlatching list, the robot, which is obtained, from starting point reaches the path child node
First path value and using the path child node as father node when robot from starting point reach the path child node
The second path values；Removing module is used for when the first path value is lower than second path values, by the path section
Point is deleted from the unlatching list, and the father node for updating the path child node is the present node.
Further, first computational submodule includes: the 4th judging submodule, for judging the robot from institute
It states present node and is moved to whether path child node needs to turn to；First cumulative submodule, in the robot from described
When present node is moved to path child node and needs to turn to, the path values of the father node of the path child node are added up two lists
The position time；Second cumulative submodule does not need to turn for being moved to path child node from the present node in the robot
Xiang Shi adds up the path values of the father node of the path child node one unit time；4th computational submodule is used for foundation
The path child node calculates the machine to the path values of the travel distance of target point and the father node of the path child node
Total path value of the people from starting point to target point；Submodule is added, for according to the total path value, institute to be added in path child node
State unlatching list.
Further, each grid in the grating map has obstacle information for recording.
Further, the grid temporarily occupancy table is shared by all robots run in the grating map.
According to another aspect of an embodiment of the present invention, a kind of storage medium is additionally provided, the storage medium is for storing
Program, wherein equipment where described program controls the storage medium when being executed by processor executes above-mentioned any one institute
The paths planning method stated.
According to another aspect of an embodiment of the present invention, a kind of processor is additionally provided, the processor is used to run program,
Wherein, paths planning method described in above-mentioned any one is executed when described program is run.
In embodiments of the present invention, using determining grating map, wherein grating map be operation map to robot into
The map obtained after row grid division includes multiple grids in grating map, obtains grid and temporarily occupies table, wherein grid faces
Shi Zhanyong table is used to store the occupied information of the coordinate information and each robot of grid in different moments to grid, according to grid
It is interim to occupy table, determine that robot reaches the target travel path of target point from starting point, wherein target travel path at least wraps
It includes: reaching the time of each grid and the stay time in grid.In this embodiment, in addition to considering robot operational process
In barrier, other robots are further accounted in the shift position of different moments, to carry out the path planning of robot, really
Determine the specific arrival time of robot and the stay time in a certain position, realizes collisionless walking between robot, and then solve
The technical issues of multiple robots are easy to happen collision when walking on map can not be certainly solved in the related technology.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present invention, constitutes part of this application, this hair
Bright illustrative embodiments and their description are used to explain the present invention, and are not constituted improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is a kind of flow chart of paths planning method according to an embodiment of the present invention；
Fig. 2 is a kind of schematic diagram of optional grating map according to an embodiment of the present invention；
Fig. 3 is the schematic diagram that head-on crash can be optionally generated according to one kind of the application；
Fig. 4 is the schematic diagram that side collision can be optionally generated according to one kind of the application；
Fig. 5 is the schematic diagram for generating side collision when mobile according to a kind of multiple mobile robot in the prior art；
Fig. 6 is the schematic diagram of path planning when a kind of multiple mobile robot according to an embodiment of the present invention is mobile；
Fig. 7 is a kind of schematic diagram of path planning apparatus according to an embodiment of the present invention.
Specific embodiment
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
The embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
The model that the present invention protects all should belong in member's every other embodiment obtained without making creative work
It encloses.
It should be noted that description and claims of this specification and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so as to the embodiment of the present invention described herein can in addition to illustrating herein or
Sequence other than those of description is implemented.In addition, term " includes " and " having " and their any deformation, it is intended that cover
Cover it is non-exclusive include, for example, the process, method, system, product or equipment for containing a series of steps or units are not necessarily limited to
Step or unit those of is clearly listed, but may include be not clearly listed or for these process, methods, product
Or other step or units that equipment is intrinsic.
The following embodiments of the present invention can be applied in the path planning of mobile robot, single relative to being currently only capable of providing
The path planning of a robot, and it is easy to appear the case where colliding between robot in the path planning of multiple robots, this
Apply for that following each embodiments consider the location of other mobile robots and state in same running environment, avoids being planned
Path conflicts with the generation of other mobile robots, is specifically described below.
Embodiment one
According to embodiments of the present invention, a kind of paths planning method embodiment is provided, it should be noted that in the stream of attached drawing
The step of journey illustrates can execute in a computer system such as a set of computer executable instructions, although also, flowing
Logical order is shown in journey figure, but in some cases, it can be to be different from shown or described by sequence execution herein
The step of.
Fig. 1 is a kind of flow chart of paths planning method according to an embodiment of the present invention, as shown in Figure 1, this method includes
Following steps:
Step S102, determines grating map, wherein grating map is after the operation map to robot carries out grid division
Obtained map includes multiple grids in grating map；
Step S104 obtains grid and temporarily occupies table, wherein grid temporarily occupies table for storing the coordinate information of grid
With each robot in different moments to the occupied information of grid；
Step S106 temporarily occupies table according to grid, determines that robot reaches the target travel path of target point from starting point,
Wherein, target travel path includes at least: reaching the time of each grid and the stay time in grid.
Through the above steps, grating map can be determined, wherein grating map is that the operation map to robot carries out grid
Obtained map after lattice divide includes multiple grids in grating map, obtains grid and temporarily occupy table, wherein grid temporarily accounts for
It is used to store the occupied information of the coordinate information and each robot of grid in different moments to grid with table, it is interim according to grid
Table is occupied, determines that robot reaches the target travel path of target point from starting point, wherein target travel path includes at least: arriving
Time up to each grid and the stay time in grid.In this embodiment, in addition to considering in robot operational process
Barrier further accounts for other robots in the shift position of different moments, to carry out the path planning of robot, determines machine
The specific arrival time of device people and stay time in a certain position realize collisionless walking between robot, and then solve phase
The technical issues of multiple robots are easy to happen collision when walking on map can not be solved in the technology of pass.
It can be related to path node during path planning in the application, path node represents mobile robot can be with
The grid of selection, it contains grid coordinate (x, y) where node, mobile robot and is moved to reality used in the point from starting point
Border path values G, mobile robot are moved to estimation path values H, mobile robot used in target point from starting point movement from the point
To total path value F (wherein F=G+H), mobile robot used in target point currently towards Orientation, mobile robot
Movement Action (including straight trip, steering, pause), mobile robot reach the time point tn of the path node.
Optionally, path node is divided into father node and two kinds of child node, and child node is diffused out around by father node,
Each path node has the child node and father node of oneself.
Also, the application can also pre-establish unlatching list corresponding with every robot and close list.Wherein, it opens
List effect is to store robot to search out the potential selectable path node come, and closing list effect is storage search road
From the select the smallest node of F value in list is opened during diameter, the point closed in list is put into and has not searched again for.It opens
Opening list and closing list is that every mobile robot is distinctive, is begun setting up before route searching.
The application can predefine starting point and target point, then start path planning before determining target travel path,
Optionally, when determining target travel path, it can first determine that starting point coordinate is (xs, ys) and coordinate of ground point (xg, yg).
Each implementation steps above-mentioned to the application are illustrated below.
Step S102, determines grating map, wherein grating map is after the operation map to robot carries out grid division
Obtained map includes multiple grids in grating map.
Optionally, each grid in grating map is corresponding with grid coordinate, and grid also will record barrier letter
Breath.
Fig. 2 is a kind of schematic diagram of optional grating map according to an embodiment of the present invention, as shown in Fig. 2, to operation
After map is divided, obtain grating map as shown in Figure 2, each grid of the grating map can be corresponding with grid coordinate (x,
y)。
The operation map that robot can be needed to run by the application is divided with the square grid of certain equal sizes, often
Whether a grid contains its x in whole map, y-coordinate and is that (such as 0 is expressed as barrier to static-obstacle thing, and 1 indicates
For non-barrier) etc. information.
Step S104 obtains grid and temporarily occupies table, wherein grid temporarily occupies table for storing the coordinate information of grid
With each robot in different moments to the occupied information of grid.
Temporarily occupancy table is occupied information for all robots of dynamical save in different moments to each grid to grid,
One grid can be occupied in different moments by more mobile robots, but a grid can only be in synchronization by a movement
Robot occupies.
Grid temporarily occupancy table is shared by all robots run in grating map.I.e. grid temporarily occupies table by owning
Mobile robot is used in conjunction with and updates.
As the optional example of the application one, obtaining grid, temporarily occupancy table includes:
101, construct the unlatching list of the robot of current planning path, wherein open storage robot search in list
Selectable path node, open and the starting point of robot be stored in advance in list.
While list is opened in building, a closing list can also be constructed.
102, and after building is completed to open list, so that it may start to carry out route searching, it at this time can be with cycle detection
Whether the path node number for opening in list is 0, and (circulation is not centainly 0 for the first time, because starting point joined at the very start
Open list), if it is 0, illustrate that mobile robot has searched for all accessibility nodes and can not all find and can arrive
Up to the path of target point, it can terminate to run at this time, determination can not find target travel path.If not being 0, execution can be recycled
Route searching sub-step S1 to S4:
S1, when determining that opening the selectable path node of each of list reaches travel distance and the traveling of target point
It is long, obtain multiple path values.
S2 chooses in multiple path values path node corresponding to the smallest path values of numerical value as present node, and will
Present node, which is added, closes list, wherein it is the smallest to close the path values that storage robot in list reaches target point from starting point
Path node.
S3 judges whether present node is target point.
S4 searches for the path node around present node, and will search out in the case where present node is not target point
Optional path node be added open list.
Path searching can be carried out always by above-mentioned circulation step, and by shortest path value institute between each path node
Corresponding path node, which is added, closes list, can finally be stored in closing list every two starting point between target point it is all most
Short path node.
103, it is at this time starting point from target point if inquiring the case where present node is target point in cyclic query
Query closes the multiple level father nodes corresponding with target point stored in list, until reaching starting point, obtains path section
Point set.Can target point start, Query father node, first finds the father node of target point, then finds in layer
The father node ... of the father node of target point so recycles, until finding starting point.These father node set found i.e. from
Path node set of the starting point to target point.
104, the time of each path node is reached according to path node set and robot, determines that grid temporarily occupies
Table.
By above embodiment, the path node set and mobile robot that can find all robots are reached
The time point of each path basic point updates grid and temporarily occupies table, for referring to when other robot planning paths.
In the application, the path around search present node for specifically how to realize S4 in above-mentioned circulation step is saved
Point, is illustrated below.
Wherein, in the case where present node is not target point, the path node around present node is searched for, and will search
Unlatching list is added in optional path node out
201, obtain multiple path child nodes around present node.
202, judge whether each path child node around the present node searched out is target child node, wherein mesh
The type of mark child node includes at least: barrier is added and closes the node of list, the node outside current path map.Optionally,
The barrier can be with static-obstacle thing, such as stone, desk or baffle.
203, when each path child node around present node is target child node, abandon path child node.
204, each path child node around present node is not target child node, and determine path child node be can
When the path child node of choosing, which is added and opens list.
It is another optional, comprise determining that robot reaches path child node unlatching list is added in path child node
Time point；According to the nodal information of path child node, judge path child node whether in grid temporarily occupancy table；If path
Child node temporarily occupies in table in grid, starts collision prevention strategy；If path child node does not occupy in table temporarily in grid, road is calculated
The path values of diameter child node, and path child node is added and is opened in list.
Optionally, when above-mentioned determining robot reaches the time point of path child node, the robot that can be estimation is reached
At the time point of child node, for example, the time point that setting reaches path child node can be tn, evaluation method can exist for robot
The time t0 of starting point adds time t used in road, and the time used in road can be by the G value of child node divided by unit time cost (example
Such as, the unit time is set 10) to obtain.
It is another optional, in the nodal information according to path child node, judge whether path child node is interim in grid
When occupying in table, the nodal information of the path child node may include: that the grid coordinate of path child node and robot are reached and be somebody's turn to do
The time point of path child node.The time of the path child node is reached using the grid coordinate and robot of the path child node
Whether point judges path child node in grid temporarily occupancy table.
If it is determined that path child node temporarily occupies in table in grid, illustrate there are other mobile robots reaching road
The path node is occupied when at the time of diameter child node, is moved to the node rashly and is bound to generate collision, starts collision prevention at this time
Strategy.
In this application, starting collision prevention strategy includes: to judge whether robot can generate head-on crash with other robots；
If it is determined that robot can generate head-on crash with other robots, path child node is abandoned；If it is determined that robot will not with it is other
Robot generates head-on crash, using waiting strategy collision prevention.
Fig. 3 is the schematic diagram that head-on crash can be optionally generated according to one kind of the application, as shown in figure 3, two machines
People is respectively R1 and R2, and the direction of motion of two mobile robots is exactly the opposite, if R1 and R2 can be produced according to current path walking
Raw head-on crash.
It include: calculating robot and other robot meetings using waiting strategy collision prevention as the optional example of the application one
Generate time point and the collision grid of side collision；Calculate stay time；The traveling grid in front of collision grid are reached in robot
When lattice, stay time is waited in traveling grid；After stay time, control robot continues along target line inbound path
It is mobile.
I.e. when determining path node, if it is determined that be head-on crash, then directly ignore, continue searching other child nodes.
If it is not, then necessarily side collision.Fig. 4 is the schematic diagram that side collision can be optionally generated according to one kind of the application,
As shown in figure 4, Liang Ge robot is respectively R1 and R2, the direction of motion of two mobile robots crosses at 90 degree, if R1 and R2
Side collision can be generated according to current path walking, side collision can take waiting strategy collision prevention.
Waiting strategy collision prevention in the application can refer to that robot original place is suspended.Waiting is not necessarily best strategy,
Because waiting also needs to pay time cost, therefore, it is necessary to calculate mobile robot to be parked in used in present node (xc, yc)
Path values F, and present node is rejoined unlatching list, waits that be made for mobile robot when subsequent cycles again selectable
Point.Assuming that the stay time waited is unit time 10, then present node F=(G+10)+H.H is present node to target point
Manhatton distance, calculation formula are as follows: H=| (xg-xc)+| (yg-yc) |.Calculating through the above way can be determined to need
Then the stay time of waiting determines whether to select the path node.
For the embodiment of the present application, in the path values for calculating path child node, and path child node is added and is opened
Before list, further includes: obtain robot from starting point reach path child node first path value and using path child node as
Robot reaches the second path values of path child node from starting point when father node；When first path value is lower than the second path values,
Path child node is deleted from unlatching list, and the father node of more new route child node is present node.
If need to judge path child node using current path node as father node, G value (instruction first path
Value) it is whether smaller than original G value (the second path values of instruction), if it is, the path child node is deleted from unlatching list,
The father node for changing the path child node is present node；If it is not, then can directly terminate the hunting action of path child node.
As another optional example of the application, the path values of path child node are calculated, and child node addition in path is opened
Opening list includes: to judge that robot is moved to whether path child node needs to turn to from present node；If robot is from working as prosthomere
Point is moved to path child node and needs to turn to, and the path values of the father node of path child node are added up two unit time；If machine
Device people is moved to path child node from present node and does not need to turn to, and the path values of the father node of path child node are one cumulative
Unit time；Path values according to path child node to the travel distance of target point and the father node of path child node, computer
Total path value of the device people from starting point to target point；According to total path value, path child node is added and opens list.
Need to judge that mobile robot is moved to whether path child node needs to turn to from present node, because turn to
The cost of cost (corresponding to path values) than keeping straight on is high, so if necessary to turn to, then by the road of the father node of path child node
Diameter value adds up two unit time, for example, determine that the unit time is 10, the G value of father node is true plus two unit time 20
It is set to the G value of path child node；If you do not need to turning to, the G value of father node is determined as path plus a unit time 10
The G value of child node.
After the travel path value for determining each path child node, can calculating total path value, (F value, F=G+H, H are
For child node to the manhatton distance of target point, calculation formula is same are as follows: H=| and (xg-xn)+| (yg-yn) |), and path is saved
Point, which is added, opens list.
Step S106 temporarily occupies table according to grid, determines that robot reaches the target travel path of target point from starting point,
Wherein, target travel path includes at least: reaching the time of each grid and the stay time in grid.
Fig. 5 is the schematic diagram for generating side collision when mobile according to a kind of multiple mobile robot in the prior art, such as Fig. 5
Shown, Liang Ge robot is respectively R1 and R2, and mobile robot R1 and R2 are respectively simultaneously along respective optimal path towards mesh
Punctuate G1 and G2 advance.It is contemplated that Liang Tai robot will collide in step 4.
Fig. 6 is the schematic diagram of path planning when a kind of multiple mobile robot according to an embodiment of the present invention is mobile, such as Fig. 6 institute
Show, Liang Ge robot is respectively R1 and R2, and the target point of R1 is G1, and the target point of R2 is G2, and it is (false that R1 carries out path planning first
If R1 priority is higher than R2), and it is stored in grid temporarily in occupancy table, in this way in occupied information of the different moments to path
When carrying out path planning, discovery can temporarily occupy existing node generation in table with grid and conflict R2, therefore can select to wait
Avoid or plan other paths.Since the time cost for waiting evacuation spent is smaller, mobile robot can be selected
Wait avoid, after R1 is by conflict path node, it is further continued for advancing.
The paths planning method that the above embodiments of the present application provide can be based on heuristic search mode, in addition to considering to move
Barrier present on the two-dimensional space that mobile robot is run also expands out time dimension as reference, records each moment
Every mobile robot position, when each mobile robot path planning, are referred to this, avoid existing with other mobile robots
A certain moment generates conflict, at the same with mobile robot from starting point to target point used in the time it is most short for principle, cook up optimal
Travel path.
Illustrate the application below by an alternative embodiment.
Embodiment two
Fig. 7 is a kind of schematic diagram of path planning apparatus according to an embodiment of the present invention, as shown in fig. 7, the device can be with
It include: the first determination unit 71, acquiring unit 73, the second determination unit 75, wherein
First determination unit 71, for determining grating map, wherein grating map is that the operation map to robot carries out
The map obtained after grid division includes multiple grids in grating map；
Acquiring unit 73, for obtaining grid temporarily occupancy table, wherein grid temporarily occupies table for storing the seat of grid
Information and each robot are marked in different moments to the occupied information of grid；
Second determination unit 75 determines that robot reaches the mesh of target point from starting point for temporarily occupying table according to grid
Mark travel path, wherein target travel path includes at least: reaching the time of each grid and the stay time in grid.
Above-mentioned path planning apparatus can be passed through with the first determination unit 71 and determine grating map, wherein grating map is pair
The operation map of robot carries out the map obtained after grid division, includes multiple grids in grating map, passes through acquiring unit
73 acquisition grids temporarily occupy table, wherein grid temporarily occupies coordinate information and each robot of the table for storing grid and exists
Different moments to the occupied information of grid, temporarily occupy table according to grid by the second determination unit 75, determine robot from
Point reach target point target travel path, wherein target travel path includes at least: reach each grid time and
The stay time of grid.In this embodiment, in addition to considering the barrier in robot operational process, other machines are further accounted for
People is in the shift position of different moments, to carry out the path planning of robot, determine robot specific arrival time and
The stay time of a certain position realizes collisionless walking between robot, and then solves that multiple machines can not be solved in the related technology
The technical issues of device people is easy to happen collision when walking on map.
Optionally, acquiring unit includes: the first building module, the unlatching column of the robot for constructing current planning path
Table, wherein the selectable path node for opening storage robot search in list is opened in list and robot is stored in advance
Starting point；Loop module determines that opening each of list may be selected for recycling executive path search sub-step S1 to S4:S1
Path node reach target point travel distance and traveling duration, obtain multiple path values；S2 chooses number in multiple path values
It is worth path node corresponding to the smallest path values as present node, and present node is added and closes list, wherein closes
The smallest path node of path values that robot reaches target point from starting point is stored in list；S3, judge present node whether be
Target point；S4 searches for the path node around present node, and will search out in the case where present node is not target point
Optional path node be added open list；First enquiry module is used in the case where present node is target point, from mesh
Punctuate is that starting point Query closes the multiple level father nodes corresponding with target point stored in list, up to reaching starting point,
Obtain path node set；First determining module, for reaching each path node according to path node set and robot
Time determines grid temporarily occupancy table.
Another optional, loop module includes: the first acquisition submodule, for obtaining multiple roads around present node
Diameter child node；First judging submodule, whether each path child node for judging around the present node searched out is mesh
Mark child node, wherein the type of target child node includes at least: node, the current path map for closing list is added in barrier
Outer node；First abandons submodule, for each path child node around present node be target child node when, abandon
Path child node；First determines submodule, is not target child node for each path child node around present node, and
When determining that path child node is optional path child node, which is added and opens list.
In this application, first determine that submodule includes: the second determining module, for determining that robot reaches path section
The time point of point；Whether second judgment submodule judges path child node in grid for the nodal information according to path child node
Lattice temporarily occupy in table；Promoter module, for, when grid temporarily occupies in table, starting collision prevention strategy in path child node；
First computational submodule, for not when grid temporarily occupies in table, calculating the path values of path child node in path child node,
And path child node is added and is opened in list.
As an of the invention optional example, promoter module includes: third judging submodule, for judging that robot is
It is no to generate head-on crash with other robots；Second abandons submodule, for determining that robot can produce with other robots
When raw head-on crash, path child node is abandoned；Collision prevention submodule, for determine robot will not with other robots generate just
When face is collided, using waiting strategy collision prevention.
As an of the invention optional example, collision prevention submodule includes: the second computational submodule, for calculating robot with
Other robots can generate time point and the collision grid of side collision；Third computational submodule, for calculating stay time；Deng
Stay time is waited in traveling grid when for reaching the traveling grid in front of collision grid in robot to submodule；Control
System module, for after stay time, control robot to be continued to move to along target line inbound path.
As an optional example of the invention, path planning apparatus further include: module is obtained, for calculating path section
The path values of point, and path child node is added before opening list, robot, which is obtained, from starting point reaches the of path child node
One path values and robot reaches the second path values of path child node from starting point when using path child node as father node；It deletes
Module, for path child node being deleted from unlatching list, and more new route when first path value is lower than the second path values
The father node of child node is present node.
As an optional example of the invention, the first computational submodule includes: the 4th judging submodule, for judging machine
People is moved to whether path child node needs to turn to from present node；First cumulative submodule, in robot from working as prosthomere
When point is moved to path child node and needs to turn to, the path values of the father node of path child node are added up two unit time；The
Two cumulative submodules, for when robot is moved to path child node from present node and does not need to turn to, by path child node
Father node path values add up a unit time；4th computational submodule, for arriving target point according to path child node
The path values of travel distance and the father node of path child node, total path value of the calculating robot from starting point to target point；It is added
Submodule, for path child node being added and opens list according to total path value.
As an optional example of the invention, each grid in grating map has obstacle information for recording.
As an optional example of the invention, all robots run in grating map share grid and temporarily occupy
Table.
Above-mentioned path planning apparatus can also include processor and memory, and above-mentioned first determination unit 71 obtains single
Member 73, the second determination unit 75 etc. store in memory as program unit, execute storage in memory by processor
Above procedure unit realize corresponding function.
Include kernel in above-mentioned processor, is gone in memory to transfer corresponding program unit by kernel.Kernel can be set
One or more reaches the target travel path of target point by adjusting kernel parameter to determine robot from starting point.
Above-mentioned memory may include the non-volatile memory in computer-readable medium, random access memory
(RAM) and/or the forms such as Nonvolatile memory, such as read-only memory (ROM) or flash memory (flash RAM), memory includes extremely
A few storage chip.
According to another aspect of an embodiment of the present invention, a kind of storage medium is additionally provided, storage medium is used to store program,
Wherein, equipment where program controls storage medium when being executed by processor executes the paths planning method of above-mentioned any one.
According to another aspect of an embodiment of the present invention, a kind of processor is additionally provided, processor is used to run program,
In, program executes the paths planning method of above-mentioned any one when running.
The embodiment of the invention provides a kind of equipment, equipment include processor, memory and storage on a memory and can
The program run on a processor, processor perform the steps of determining grating map when executing program, wherein grating map
It is the map for obtain after grid division to the operation map of robot, includes multiple grids in grating map；Obtain grid
It is interim to occupy table, wherein grid temporarily occupies coordinate information and each robot of the table for storing grid in different moments pair
The occupied information of grid；Table is temporarily occupied according to grid, determines that robot reaches the target travel path of target point from starting point,
In, target travel path includes at least: reaching the time of each grid and the stay time in grid.
Optionally, when above-mentioned processor executes program, the machine for constructing current planning path can also be performed the steps of
The unlatching list of people, wherein the selectable path node for opening storage robot search in list is opened and deposited in advance in list
Store up the starting point of robot；Executive path search sub-step S1 to S4:S1 is recycled, determines and opens the selectable road of each of list
Diameter node reaches the travel distance and traveling duration of target point, obtains multiple path values；S2 chooses in multiple path values numerical value most
Present node is added as present node and closes list by path node corresponding to small path values, wherein closes list
Middle storage robot reaches the smallest path node of path values of target point from starting point；S3 judges whether present node is target
Point；S4 searches for the path node around present node, and can by what is searched out in the case where present node is not target point
The path node of choosing, which is added, opens list；It is starting point Query pass from target point in the case where present node is target point
The multiple level father nodes corresponding with target point stored in list are closed, until reaching starting point, obtain path node set；According to
Path node set and robot reach the time of each path node, determine grid temporarily occupancy table.
Optionally, it when above-mentioned processor executes program, can also perform the steps of multiple around acquisition present node
Path child node；Judge whether each path child node around the present node searched out is target child node, wherein target
The type of child node includes at least: barrier is added and closes the node of list, the node outside current path map；Working as prosthomere
When each path child node around point is target child node, path child node is abandoned；Each path around present node
Child node is not target child node, and determine path child node be optional path child node when, by the path child node be added
Open list.
Optionally, when above-mentioned processor executes program, determining robot can also be performed the steps of and reach path section
The time point of point；According to the nodal information of path child node, judge path child node whether in grid temporarily occupancy table；If road
Diameter child node temporarily occupies in table in grid, starts collision prevention strategy；If path child node does not occupy in table temporarily in grid, calculate
The path values of path child node, and path child node is added and is opened in list.
Optionally, when above-mentioned processor executes program, can also perform the steps of judge robot whether can with it is other
Robot generates head-on crash；If it is determined that robot can generate head-on crash with other robots, path child node is abandoned；If really
Head-on crash will not be generated with other robots by determining robot, using waiting strategy collision prevention.
Optionally, when above-mentioned processor executes program, calculating robot and other robots can also be performed the steps of
Time point and the collision grid of side collision can be generated；Calculate stay time；The traveling in front of collision grid is reached in robot
When grid, stay time is waited in traveling grid；After stay time, control robot along target line inbound path after
Continuous movement.
Optionally, it when above-mentioned processor executes program, can also perform the steps of in the path for calculating path child node
Value, and path child node is added before opening list, obtain the first path value that robot reaches path child node from starting point
Robot reaches the second path values of path child node from starting point when with using path child node as father node；In first path value
When lower than the second path values, path child node is deleted from unlatching list, and the father node of more new route child node is current
Node.
Optionally, when above-mentioned processor executes program, it can also perform the steps of and judge that robot is moved from present node
It moves to path child node and whether needs to turn to；It needs to turn to if robot is moved to path child node from present node, by path
The path values of the father node of child node add up two unit time；If robot is moved to path child node from present node and is not required to
It turns to, the path values of the father node of path child node is added up a unit time；Target point is arrived according to path child node
The path values of travel distance and the father node of path child node, total path value of the calculating robot from starting point to target point；Foundation
Path child node is added and opens list by total path value.
Optionally, each grid in grating map has obstacle information for recording.
Optionally, grid temporarily occupancy table is shared by all robots run in grating map.
Present invention also provides a kind of computer program products, when executing on data processing equipment, are adapted for carrying out just
The program of beginningization there are as below methods step: grating map is determined, wherein grating map is that the operation map to robot carries out grid
Obtained map after lattice divide includes multiple grids in grating map；It obtains grid and temporarily occupies table, wherein grid temporarily accounts for
It is used to store the occupied information of the coordinate information and each robot of grid in different moments to grid with table；It is interim according to grid
Table is occupied, determines that robot reaches the target travel path of target point from starting point, wherein target travel path includes at least: arriving
Time up to each grid and the stay time in grid.
The serial number of the above embodiments of the invention is only for description, does not represent the advantages or disadvantages of the embodiments.
In the above embodiment of the invention, it all emphasizes particularly on different fields to the description of each embodiment, does not have in some embodiment
The part of detailed description, reference can be made to the related descriptions of other embodiments.
In several embodiments provided herein, it should be understood that disclosed technology contents can pass through others
Mode is realized.Wherein, the apparatus embodiments described above are merely exemplary, such as the division of the unit, Ke Yiwei
A kind of logical function partition, there may be another division manner in actual implementation, for example, multiple units or components can combine or
Person is desirably integrated into another system, or some features can be ignored or not executed.Another point, shown or discussed is mutual
Between coupling, direct-coupling or communication connection can be through some interfaces, the INDIRECT COUPLING or communication link of unit or module
It connects, can be electrical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
On unit.It can some or all of the units may be selected to achieve the purpose of the solution of this embodiment according to the actual needs.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can store in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially
The all or part of the part that contributes to existing technology or the technical solution can be in the form of software products in other words
It embodies, which is stored in a storage medium, including some instructions are used so that a computer
Equipment (can for personal computer, server or network equipment etc.) execute each embodiment the method for the present invention whole or
Part steps.And storage medium above-mentioned includes: that USB flash disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), mobile hard disk, magnetic or disk etc. be various to can store program code
Medium.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (13)
1. a kind of paths planning method characterized by comprising
Determine grating map, wherein the grating map is the ground for obtain after grid division to the operation map of robot
Scheme, includes multiple grids in the grating map；
It obtains grid and temporarily occupies table, wherein the grid temporarily occupies table for storing the coordinate information of the grid and every
A robot is in different moments to the occupied information of grid；
Table is temporarily occupied according to the grid, determines that the robot reaches the target travel path of target point from starting point, wherein
The target travel path includes at least: reaching the time of each grid and the stay time in grid.
2. the method according to claim 1, wherein obtaining grid, temporarily occupancy table includes:
Construct the unlatching list of the robot of current planning path, wherein the search of storage robot can in the unlatching list
The path node of selection, it is described to open the starting point that robot is stored in advance in list；
Executive path search sub-step S1 to S4:S1 is recycled, determines the selectable path node of each of the unlatching list
The travel distance and traveling duration for reaching target point, obtain multiple path values；It is minimum to choose numerical value in the multiple path values by S2
Path values corresponding to path node as present node, and by the present node be added close list, wherein the pass
It closes in list and stores the smallest path node of path values that robot reaches target point from starting point；S3 judges the present node
It whether is target point；S4 searches for the road around the present node in the case where the present node is not the target point
Diameter node, and the unlatching list is added in the optional path node searched out；
It is to be deposited in closing list described in starting point Query from the target point in the case where the present node is target point
The multiple level father nodes corresponding with the target point put obtain path node set until reaching the starting point；
The time that each path node is reached according to the path node set and robot determines that the grid temporarily occupies
Table.
3. according to the method described in claim 2, it is characterized in that, the case where the present node is not the target point
Under, the path node around the present node is searched for, and the unlatching list is added in the optional path node searched out
Include:
Obtain multiple path child nodes around the present node；
Judge whether each path child node around the present node searched out is target child node, wherein target
The type of node includes at least: barrier is added and closes the node of list, the node outside current path map；
When each path child node around the present node is the target child node, the path child node is abandoned；
Each path child node around the present node is not the target child node, and determine path child node be can
When the path child node of choosing, which is added the unlatching list.
4. according to the method described in claim 3, it is characterized in that, including: by the path child node addition unlatching list
Determine that the robot reaches the time point of the path child node；
According to the nodal information of the path child node, judge the path child node whether in the interim occupancy table of the grid
In；
If the path child node temporarily occupies in table in the grid, start collision prevention strategy；
If the path child node does not occupy in table temporarily in the grid, the path values of path child node are calculated, and by path
Child node is added in the unlatching list.
5. according to the method described in claim 4, it is characterized in that, starting collision prevention strategy includes:
Judge whether the robot can generate head-on crash with other robots；
If it is determined that the robot can generate head-on crash with other robots, the path child node is abandoned；
If it is determined that the robot will not generate head-on crash with other robots, using waiting strategy collision prevention.
6. according to the method described in claim 5, it is characterized in that, including: using waiting strategy collision prevention
Time point and the collision grid of side collision can be generated by calculating the robot and other robots；
Calculate stay time；
When the robot reaches the traveling grid in front of the collision grid, the stop is waited in the traveling grid
Duration；
After the stay time, controls the robot and continued to move to along the target travel path.
7. according to the method described in claim 4, it is characterized in that, calculate path child node path values, and by path son
Node is added before the unlatching list, further includes:
Obtain the robot from starting point reach the path child node first path value and using the path child node as
The robot reaches the second path values of the path child node from starting point when father node；
When the first path value is lower than second path values, the path child node is deleted from the unlatching list
The father node for removing, and updating the path child node is the present node.
8. the method according to the description of claim 7 is characterized in that calculating the path values of path child node, and path is saved
The unlatching list is added in point
Judge that the robot is moved to whether path child node needs to turn to from the present node；
It needs to turn to if the robot is moved to path child node from the present node, the father of the path child node is saved
The path values of point add up two unit time；
If the robot is moved to path child node from the present node and does not need to turn to, by the father of the path child node
The path values of node add up a unit time；
The path values of the father node of the travel distance and path child node according to the path child node to target point calculate
Total path value of the robot from starting point to target point；
According to the total path value, the unlatching list is added in path child node.
9. the method according to claim 1, wherein each grid in the grating map has barrier for recording
Hinder object information.
10. the method according to claim 1, wherein all robots run in the grating map are total
Enjoy the grid temporarily occupancy table.
11. a kind of path planning apparatus characterized by comprising
First determination unit, for determining grating map, wherein the grating map is that the operation map to robot carries out grid
Obtained map after lattice divide includes multiple grids in the grating map；
Acquiring unit, for obtaining grid temporarily occupancy table, wherein the grid temporarily occupies table for storing the grid
Coordinate information and each robot are in different moments to the occupied information of grid；
Second determination unit determines that the robot reaches target point from starting point for temporarily occupying table according to the grid
Target travel path, wherein the target travel path includes at least: the time of each grid and the stop in grid are reached
Duration.
12. a kind of storage medium, which is characterized in that the storage medium is for storing program, wherein described program is processed
Path planning side described in any one of equipment perform claim requirement 1 to 10 device controls the storage medium when executing where
Method.
13. a kind of processor, which is characterized in that the processor is for running program, wherein right of execution when described program is run
Benefit require any one of 1 to 10 described in paths planning method.
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