CN110320920A - A kind of double-movement robot maze paths planning method based on reduction algorithm - Google Patents
A kind of double-movement robot maze paths planning method based on reduction algorithm Download PDFInfo
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- CN110320920A CN110320920A CN201910720433.7A CN201910720433A CN110320920A CN 110320920 A CN110320920 A CN 110320920A CN 201910720433 A CN201910720433 A CN 201910720433A CN 110320920 A CN110320920 A CN 110320920A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
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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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
Abstract
The invention discloses a kind of the double-movement robot maze paths planning method based on reduction algorithm, operating procedure are as follows: Step 1: two-track mobile robot is explored the way in moving region, if reaching home, stop exploring the way；If not reaching home, right or lefft-hand rule is taken to explore the way；It is rear to turn to return if coming into blind alley；Step 2: all fork crossings, blind alley that record encounters during exploring the way, and result is kept records of by way of at the fork crossing or blind alley；Step 3: according to record as a result, carrying out specification processing to the crossing for first appearing B turning mode using reduction algorithm；Step 4: judging whether mode of turning there is also B, and if it exists, go to step 3；If it does not exist, optimal path is obtained.This method gives full play to the characteristics of unmanned platform is formed into columns, and after specification is handled, can evade path impassabitity and that repetition is passed by, improve efficiency, saves the time, have great importance in the following cooperative combat.
Description
Technical field
The present invention relates to a kind of multiple pass more particularly to a kind of double-movement robot maze path rule based on reduction algorithm
The method of drawing.
Background technique
Instantly, the form of war is more obvious from mechanization, the information-based trend to make the transition to intelligence, big as artificial intelligence
An epitome in tide, the intelligent robot disaster relief, deep seafloor in danger zone search, disaster area collapsing building are searched for, are outer
The various fields such as space probation all play significant role.
For single mobile robot, although having the outstanding features such as small body, mobility strong, zero casualties,
But it is but faced with the problems such as fighting range is small, cruising ability is weak, task system fault-tolerance deficiency, office in practical applications
Limit intelligence machine man-based development.It therefore, is the limitation for making up single mobile robot, the patterns of warfare of intelligent robot are
Gradually develop from single system operation to multisystem direction of operation.
Compared with individual machine people, intelligent mobile robot, as two-track mobile robot formation have function combinable, easily
Cut, system extension malleability height, strong robustness, it is adaptable the advantages that, thus more adapt to completion area monitoring or traversal, the external world
The task that environment is excessively dangerous, has redundancy the types such as to require.However, existing two-track mobile robot is for complicated unknown prestige
Coerce environment when, real-time perfoming task weight-normality draw and make action decision ability it is weaker, can not ensure well inherently safe with
Task is completed, it is difficult to smoothly realize the planning of its real-time task and independent behaviour ability.Therefore, it is urgent to provide one kind is calculated based on specification
The double-movement robot maze paths planning method of method simulates complicated threatening environment using " labyrinth " built, to move machine
Artificial example forms unmanned formation, completes the exploration to labyrinth using whole autonomous control mode, to use movement in operation from now on
Robot explores circumstances not known and provides foundation.
Summary of the invention
In order to solve shortcoming present in above-mentioned technology, the present invention provides a kind of double-movements based on reduction algorithm
Robot maze paths planning method.
In order to solve the above technical problems, the technical solution adopted by the present invention is that: a kind of double-movement based on reduction algorithm
Robot maze paths planning method, operating procedure are as follows:
Step 1: using two-track mobile robot as research object, the moving region of two-track mobile robot is W, in the W of moving region
Sf、SlAnd SrRespectively two-track mobile robot center is to its front, the distance of the left and right barrier region, according to reality
Situation given threshold a, if Si> a (i=f, l, r), then it is assumed that the direction can pass through；If Si≤ a (i=f, l, r), then it is assumed that should
Direction impassabitity；
Two-track mobile robot is to explore the way in W in moving region, first judges whether to reach home during exploring the way, set
Threshold value b, if Sf、SlAnd SrIt is all larger than threshold value b, front is spacious area, then it is assumed that is reached home；If reaching home, stop visiting
Road；If not reaching home, the right hand or lefft-hand rule is taken to explore the way；If coming into blind alley, turn to return afterwards；
Step 2: all fork crossings, blind alley and two-track that record two-track mobile robot encounters during exploring the way
Mobile robot is at the fork crossing or blind alley by way of；If the moving direction for n-th of the fork in the road passed by is Vn, then have
Formula I:
In formula, S indicates that straight trip, L expression are turned left, and R expression is turned right, and B expression turns round；
It is every to pass through a fork in the road n, in a program by its moving direction Vn storage, so as to subsequent processing；When two-track motivation
When device people reaches home, task terminates, and keeps records of result；
Step 3: according to above-mentioned record as a result, the processing rule according to formula II brings Vn in reduction algorithm module into, it is right
B turning mode is first appeared, i.e. the crossing in blind alley carries out specification processing；
Wherein, S, L, R, B are the exercise style of double-movement robot records；WithFor, LBL indicates double
Mobile robot by the passage mode of three forks in the road be followed successively by left-hand rotation, after turn, turn left；It indicates to carry out specification processing；
Step 4: judging whether there is also B turning modes in Vn, and if it exists, then go to step 3；If B is not present in Vn
Turning mode, then acquired results V ' n is subsequent two-track mobile robot in the driving mode of n-th of fork in the road, i.e. V ' n is optimal road
Diameter.
Further, two-track mobile robot is Turtlebot3 differential driving robot in step 1.
Further, W flat bounded in moving region in step 1, zone boundary are interconnected, barrier and edges of regions
Rough surface, laser signal are not in mirror-reflection.
Further, two-track mobile robot is explored the way in step 1, when taking right-hand rule: the side of first choice to the right
To being moved, if the direction impassabitity on right side, then edge straight trip direction are moved, if straight trip direction impassabitity, to the left
Side direction is moved.
Further, two-track mobile robot is explored the way in step 1, when taking lefft-hand rule: the side of first choice to the left
To being moved, if the direction impassabitity in left side, then edge straight trip direction are moved, if straight trip direction impassabitity, to the right
Side direction is moved.
The invention discloses a kind of double-movement robot maze paths planning method based on reduction algorithm faces height pair
The battlefield surroundings of uncertain, the highly dynamic property of resistance, height, having given full play to intelligent mobile robot fleet system can expand
Property height, strong robustness, adaptable feature rationally using information obtained during exploring the way give full play to unmanned platform
The characteristics of formation, can evade path impassabitity and that repetition is passed by, improve efficiency, save after specification is handled
Time has great importance in the following cooperative combat.
Detailed description of the invention
Fig. 1 is the schematic diagram of the moving region W of two-track mobile robot of the present invention.
Fig. 2 is flow chart when two-track mobile robot of the present invention takes right-hand rule to explore the way.
Fig. 3 is the passage schematic diagram of two-track mobile robot before reduction algorithm of the present invention is handled.
Fig. 4 is the passage schematic diagram of two-track mobile robot after reduction algorithm of the present invention processing.
Fig. 5 is the schematic diagram in labyrinth in the embodiment of the present invention.
Fig. 6 is path record figure when two-track mobile robot is explored the way using right-hand rule in the embodiment of the present invention.
Fig. 7 is the optimal path schematic diagram of two-track mobile robot after reduction algorithm processing in the embodiment of the present invention.
When Fig. 8 is that two-track mobile robot walks labyrinth in the embodiment of the present invention, preceding, the right signal for passing through and (keeping straight on and turn right)
Figure.
When Fig. 9 is that two-track mobile robot walks labyrinth in the embodiment of the present invention, preceding, the left signal passed through and (keep straight on)
Figure.
When Figure 10 is that two-track mobile robot walks labyrinth in the embodiment of the present invention, the left and right signal for passing through and (turning left, turn right)
Figure.
When Figure 11 is that two-track mobile robot walks labyrinth in the embodiment of the present invention, crossroad is turned left or the schematic diagram of right-hand rotation.
Figure 12: for when two-track mobile robot walks labyrinth in the embodiment of the present invention, the schematic diagram of blind alley (rear to turn).
Specific embodiment
The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.
The invention discloses a kind of the double-movement robot maze paths planning method based on reduction algorithm, concrete operations step
Suddenly are as follows:
Step 1: using two-track mobile robot as research object, the moving region of two-track mobile robot is W, in the W of moving region
Sf、SlAnd SrRespectively two-track mobile robot center is to its front, the distance of the left and right barrier region, according to reality
Situation given threshold a, if Si> a (i=f, l, r), then it is assumed that the direction can pass through；If Si≤ a (i=f, l, r), then it is assumed that should
Direction impassabitity；
Two-track mobile robot is to explore the way in W in moving region, first judges whether to reach home during exploring the way, set
Threshold value b, if Sf、SlAnd SrIt is all larger than threshold value b, front is spacious area, then it is assumed that is reached home；If reaching home, stop visiting
Road；If not reaching home, the right hand or lefft-hand rule is taken to explore the way；If coming into blind alley, turn to return afterwards；
Step 2: all fork crossings, blind alley and two-track that record two-track mobile robot encounters during exploring the way
Mobile robot is at the fork crossing or blind alley by way of；If the moving direction for n-th of the fork in the road passed by is Vn, then have
Formula I:
In formula, S indicates that straight trip, L expression are turned left, and R expression is turned right, and B expression turns round；
It is every to pass through a fork in the road n, in a program by its moving direction Vn storage, so as to subsequent processing；When two-track motivation
When device people reaches home, task terminates, and keeps records of result；
Step 3: according to above-mentioned record as a result, the processing rule according to formula II brings Vn in reduction algorithm module into, it is right
B turning mode is first appeared, i.e. the crossing in blind alley carries out specification processing；
Wherein, S, L, R, B are the exercise style of double-movement robot records；WithFor, LBL table S shows double
Mobile robot by the passage mode of three forks in the road be followed successively by left-hand rotation, after turn, turn left；It indicates to carry out specification processing；
Step 4: judging whether there is also B turning modes in Vn, and if it exists, then go to step 3；If B is not present in Vn
Turning mode, then acquired results V ' n is subsequent two-track mobile robot in the driving mode of n-th of fork in the road, i.e. V ' n is optimal road
Diameter.
Below with the artificial research object of Turtlebot3 differential driving machine, to the two-track of the invention based on reduction algorithm
Mobile robot maze path planing method is described further.
Firstly, Turtlebot3 differential driving robot is equipped with a 2D laser sensor and a visual sensor；
Laser sensor is placed in robot top, and scanning surface is parallel to the ground, and center is overlapped with the center of gravity of robot, effectively detection away from
From for Rmax, investigative range is 360 °, and angular resolution is 1 °；Visual sensor target object for identification, can shoot 1080p
HD video.Meanwhile Turtlebot3 differential driving robot passes through the rotation angle speed of control left and right two differential driving wheel
Spend the steering to control itself.
Step 1: double-movement robot movement area is W, as shown in Figure 1, the flat bounded of moving region W, zone boundary phase
Intercommunicated, barrier and edges of regions rough surface, laser signal is not in mirror-reflection.S in the W of moving regionf、SlWith
SrRespectively two-track mobile robot center is set according to actual conditions to its front, the distance of the left and right barrier region
Threshold value a, if Si> a (i=f, l, r), then it is assumed that the direction can pass through；If Si≤ a (i=f, l, r), then it is assumed that the direction can not
It is current.Object with triangle mark in Fig. 1 then indicates two-track mobile robot.
Two-track mobile robot is explored the way in the W of moving region, first judges whether to reach home during exploring the way, and sets threshold
Value b, if Sf、SlAnd SrIt is all larger than threshold value b, front is spacious area, then it is assumed that is reached home.If reaching home, stopping is explored the way；
If not reaching home, the right hand or lefft-hand rule is taken to explore the way；If coming into blind alley, turn to return afterwards.Wherein, when taking
When right-hand rule: the direction of first choice to the right is moved, if the direction impassabitity on right side, then carried out along straight trip direction
Mobile, if straight trip direction impassabitity, side direction is moved to the left；When taking lefft-hand rule: first choice is to the left
Direction is moved, if the direction impassabitity in left side, then moved along straight trip direction, if straight trip direction impassabitity, to
Right direction is moved.By taking right-hand rule as an example, process is as shown in Figure 2.
Step 2: all fork crossings that record two-track mobile robot encounters during exploring the way (in addition to blind alley, own
Single-turn does not record to crossing, while encountering duplicate fork on the road and also to record), blind alley and two-track mobile robot exist
The fork crossing or blind alley (are kept straight on, turn left, turn right or are turned afterwards) by way of.If the shifting for n-th of the fork in the road passed by
Dynamic direction is Vn, then has formula I:
In formula, S indicates that straight trip, L expression are turned left, and R expression is turned right, and B expression turns round；
It is every to pass through a fork in the road n, in a program by its moving direction Vn storage, so as to subsequent processing；When two-track motivation
When device people reaches home, task terminates, and keeps records of result；
Step 3: according to above-mentioned record as a result, the processing rule according to formula II brings Vn in reduction algorithm module into, it is right
B turning mode is first appeared, i.e. the crossing in blind alley carries out specification processing；
Wherein, S, L, R, B are the exercise style of double-movement robot records；WithFor, LBL table S shows double
Mobile robot turns after the passage mode of three forks in the road is followed successively by left-hand rotation, (encountering blind alley), turns left；It indicates to carry out
Specification processing.The schematic diagram of reduction process is as shown in Figure 3 and Figure 4, before Fig. 3 expression processing, after Fig. 4 expression processing, in Fig. 3, Fig. 4
Arabic numerals indicate current sequence.
Step 4: judging whether there is also B turning modes in Vn, and if it exists, then go to step 3；If B is not present in Vn
Turning mode, then acquired results V ' n is subsequent two-track mobile robot in the driving mode of n-th of fork in the road, i.e. V ' n is optimal road
Diameter.After specification is handled, path impassabitity and that repetition is passed by can be evaded.Design labyrinth as shown in Figure 5, word
Entrance is indicated at where female E, indicates outlet at the alphabetical place P, two-track mobile robot moves towards terminal from starting point, using right hand method
Then, as shown in fig. 6, the fork crossing that record obtains is { R, R, R, B, S, B, R, S, S, R, S, B, R, R, B, S, S }；By specification
After algorithm process, as shown in fig. 7, obtaining optimal path V ' n is { R, L, S, R, L, L, S }.Arabic numerals in Fig. 6 and Fig. 7
Indicate current sequence.Several typical current modes are walked when labyrinth respectively as shown in Fig. 8 to Figure 12, the labyrinth rope method of design
It is simple for structure, rationally using information obtained during exploring the way, the characteristics of unmanned platform is formed into columns is given full play to, at specification
After reason, path impassabitity and that repetition is passed by can be evaded, improve efficiency, save the time.
The invention discloses a kind of double-movement robot maze paths planning method based on reduction algorithm faces height pair
The battlefield surroundings of uncertain, the highly dynamic property of resistance, height, having given full play to intelligent mobile robot fleet system can expand
Property height, strong robustness, adaptable feature utilize a two-track mobile robot in some circumstances not known for exploring of needs
Data that (pathfinder) obtains generate a transitable optimal path, remaining double-movement robot team formation (testing road person) according to
Its optimal path generated passes through, and greatly improves working efficiency, saves the time and preserve strength, in the following cooperative combat
Have great importance.Meanwhile it solving existing mobile robot and can not effectively carry out real-time task weight-normality and drawing and make
The defect of action decision, it is ensured that two-track mobile robot inherently safe and task are completed, and realize the planning of its real-time task and autonomous row
For ability.Complicated threatening environment is simulated using " labyrinth " built, unmanned formation is formed by taking two-track mobile robot as an example, using complete
Journey autonomous control mode completes the exploration to labyrinth, for from now on fight in using mobile robot explore circumstances not known provide according to
According to.
Above embodiment is not limitation of the present invention, and the present invention is also not limited to the example above, this technology neck
The variations, modifications, additions or substitutions that the technical staff in domain is made within the scope of technical solution of the present invention, also belong to this hair
Bright protection scope.
Claims (5)
1. a kind of double-movement robot maze paths planning method based on reduction algorithm, it is characterised in that: the behaviour of the method
Make step are as follows:
Step 1: the moving region of two-track mobile robot is W, the S in the W of moving region using two-track mobile robot as research objectf、
SlAnd SrRespectively two-track mobile robot center is set according to the actual situation to its front, the distance of the left and right barrier region
Threshold value a is determined, if Si> a (i=f, l, r), then it is assumed that the direction can pass through；If Si≤ a (i=f, l, r), then it is assumed that the direction is not
It can pass through；
Two-track mobile robot is to explore the way in W in moving region, first judges whether to reach home during exploring the way, given threshold
B, if Sf、SlAnd SrIt is all larger than threshold value b, front is spacious area, then it is assumed that is reached home；If reaching home, stopping is explored the way；If
It does not reach home, then the right hand or lefft-hand rule is taken to explore the way；If coming into blind alley, turn to return afterwards；
Step 2: all fork crossings, blind alley and two-track motivation that record two-track mobile robot encounters during exploring the way
Device people is at the fork crossing or blind alley by way of；If the moving direction for n-th of the fork in the road passed by is Vn, then there is formula
I:
In formula, S indicates that straight trip, L expression are turned left, and R expression is turned right, and B expression turns round；
It is every to pass through a fork in the road n, in a program by its moving direction Vn storage, so as to subsequent processing；When two-track mobile robot
When reaching home, task terminates, and keeps records of result；
Step 3: according to above-mentioned record as a result, the processing rule according to formula II brings Vn in reduction algorithm module into, to for the first time
There is B turning mode, i.e. the crossing in blind alley carries out specification processing；
Wherein, S, L, R, B are the exercise style of double-movement robot records；WithFor, LBL indicates two-track motivation
Device people by the passage mode of three forks in the road be followed successively by left-hand rotation, after turn, turn left；It indicates to carry out specification processing；
Step 4: judging whether there is also B turning modes in Vn, and if it exists, then go to step 3；If there is no B to turn in Vn
Mode, then acquired results V ' n is subsequent two-track mobile robot in the driving mode of n-th of fork in the road, i.e. V ' n is optimal path.
2. the double-movement robot maze paths planning method according to claim 1 based on reduction algorithm, feature exist
In: two-track mobile robot described in step 1 is Turtlebot3 differential driving robot.
3. the double-movement robot maze paths planning method according to claim 1 or 2 based on reduction algorithm, feature
Be: the flat bounded in moving region W described in step 1, zone boundary are interconnected, barrier and edges of regions rough surface,
Laser signal is not in mirror-reflection.
4. the double-movement robot maze paths planning method according to claim 1 based on reduction algorithm, feature exist
In: two-track mobile robot is explored the way in step 1, when taking right-hand rule: the direction of first choice to the right is moved, if
The direction impassabitity on right side, then moved along straight trip direction, if straight trip direction impassabitity, side direction is moved to the left
It is dynamic.
5. the double-movement robot maze paths planning method according to claim 1 based on reduction algorithm, feature exist
In: two-track mobile robot is explored the way in step 1, when taking lefft-hand rule: the direction of first choice to the left is moved, if
The direction impassabitity in left side, then moved along straight trip direction, if straight trip direction impassabitity, side direction is moved to the right
It is dynamic.
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