CN111596654A - 基于改进d星路径规划算法的电缆沟机器人导航避障方法 - Google Patents
基于改进d星路径规划算法的电缆沟机器人导航避障方法 Download PDFInfo
- Publication number
- CN111596654A CN111596654A CN202010306134.1A CN202010306134A CN111596654A CN 111596654 A CN111596654 A CN 111596654A CN 202010306134 A CN202010306134 A CN 202010306134A CN 111596654 A CN111596654 A CN 111596654A
- Authority
- CN
- China
- Prior art keywords
- robot
- cable trench
- path
- algorithm
- coordinate system
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 46
- 230000033001 locomotion Effects 0.000 claims description 29
- 238000012544 monitoring process Methods 0.000 claims description 15
- 230000006870 function Effects 0.000 claims description 14
- 238000013178 mathematical model Methods 0.000 claims description 12
- 238000013507 mapping Methods 0.000 claims description 11
- 230000008447 perception Effects 0.000 claims description 11
- 239000002245 particle Substances 0.000 claims description 9
- 230000008569 process Effects 0.000 claims description 8
- 238000004880 explosion Methods 0.000 claims description 7
- 230000009466 transformation Effects 0.000 claims description 7
- 230000007613 environmental effect Effects 0.000 claims description 4
- NAWXUBYGYWOOIX-SFHVURJKSA-N (2s)-2-[[4-[2-(2,4-diaminoquinazolin-6-yl)ethyl]benzoyl]amino]-4-methylidenepentanedioic acid Chemical compound C1=CC2=NC(N)=NC(N)=C2C=C1CCC1=CC=C(C(=O)N[C@@H](CC(=C)C(O)=O)C(O)=O)C=C1 NAWXUBYGYWOOIX-SFHVURJKSA-N 0.000 claims description 3
- 239000006185 dispersion Substances 0.000 claims description 2
- 238000007689 inspection Methods 0.000 abstract description 11
- 238000009499 grossing Methods 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 9
- 230000000694 effects Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 230000003044 adaptive effect Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000007789 gas Substances 0.000 description 1
- 238000009413 insulation Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 244000005700 microbiome Species 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000002787 reinforcement Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001131 transforming effect Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
Claims (6)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202010306134.1A CN111596654B (zh) | 2020-04-17 | 2020-04-17 | 基于改进d星路径规划算法的电缆沟机器人导航避障方法 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202010306134.1A CN111596654B (zh) | 2020-04-17 | 2020-04-17 | 基于改进d星路径规划算法的电缆沟机器人导航避障方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN111596654A true CN111596654A (zh) | 2020-08-28 |
CN111596654B CN111596654B (zh) | 2023-07-11 |
Family
ID=72188951
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202010306134.1A Active CN111596654B (zh) | 2020-04-17 | 2020-04-17 | 基于改进d星路径规划算法的电缆沟机器人导航避障方法 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN111596654B (zh) |
Cited By (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN112327856A (zh) * | 2020-11-13 | 2021-02-05 | 云南电网有限责任公司保山供电局 | 一种基于改进A-star算法的机器人路径规划方法 |
CN112362063A (zh) * | 2020-11-13 | 2021-02-12 | 四川大学 | 基于碰撞类型划分的多机器人路径规划方法和系统 |
CN112509168A (zh) * | 2020-11-26 | 2021-03-16 | 深圳市中研安创科技发展有限公司 | 高效巡检方法、装置、设备及可读存储介质 |
CN112748733A (zh) * | 2020-12-16 | 2021-05-04 | 广东电网有限责任公司 | 电缆放线车路径规划方法、装置、设备及存储介质 |
CN113050642A (zh) * | 2021-03-19 | 2021-06-29 | 长沙理工大学 | 一种多传感器融合的电缆沟智能巡检机器人自动导航方法 |
CN113075686A (zh) * | 2021-03-19 | 2021-07-06 | 长沙理工大学 | 一种基于多传感器融合的电缆沟智能巡检机器人建图方法 |
CN113534823A (zh) * | 2021-09-16 | 2021-10-22 | 季华实验室 | 种植机器人路径规划方法、装置、电子设备和存储介质 |
CN113624230A (zh) * | 2021-06-22 | 2021-11-09 | 安克创新科技股份有限公司 | 用于移动机器人的导航路径生成方法和移动机器人 |
CN117128975A (zh) * | 2023-10-24 | 2023-11-28 | 国网山东省电力公司济南供电公司 | 一种开关柜巡检作业机器人导航方法、系统、介质及设备 |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2015024407A1 (zh) * | 2013-08-19 | 2015-02-26 | 国家电网公司 | 基于电力机器人的双目视觉导航系统及方法 |
WO2016045615A1 (zh) * | 2014-09-25 | 2016-03-31 | 科沃斯机器人有限公司 | 机器人静态路径规划方法 |
CN105651276A (zh) * | 2015-12-30 | 2016-06-08 | 天津盛购科技发展有限公司 | 一种基于动态线路规划仓库路径的系统 |
CN106092111A (zh) * | 2016-06-03 | 2016-11-09 | 山东师范大学 | 一种车辆路径动态规划方法、服务器及导航系统 |
WO2017041730A1 (zh) * | 2015-09-09 | 2017-03-16 | 北京进化者机器人科技有限公司 | 一种移动机器人避障导航的方法和系统 |
CN109828579A (zh) * | 2019-02-25 | 2019-05-31 | 广东工业大学 | 一种目标增量移动的移动机器人路径规划方法 |
-
2020
- 2020-04-17 CN CN202010306134.1A patent/CN111596654B/zh active Active
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2015024407A1 (zh) * | 2013-08-19 | 2015-02-26 | 国家电网公司 | 基于电力机器人的双目视觉导航系统及方法 |
WO2016045615A1 (zh) * | 2014-09-25 | 2016-03-31 | 科沃斯机器人有限公司 | 机器人静态路径规划方法 |
WO2017041730A1 (zh) * | 2015-09-09 | 2017-03-16 | 北京进化者机器人科技有限公司 | 一种移动机器人避障导航的方法和系统 |
CN105651276A (zh) * | 2015-12-30 | 2016-06-08 | 天津盛购科技发展有限公司 | 一种基于动态线路规划仓库路径的系统 |
CN106092111A (zh) * | 2016-06-03 | 2016-11-09 | 山东师范大学 | 一种车辆路径动态规划方法、服务器及导航系统 |
CN109828579A (zh) * | 2019-02-25 | 2019-05-31 | 广东工业大学 | 一种目标增量移动的移动机器人路径规划方法 |
Non-Patent Citations (2)
Title |
---|
刘彪;柏林;周科;: "警用巡逻机器人导航系统设计及关键技术研究" * |
张贺;胡越黎;王权;燕明;: "基于改进D*算法的移动机器人路径规划" * |
Cited By (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN112362063A (zh) * | 2020-11-13 | 2021-02-12 | 四川大学 | 基于碰撞类型划分的多机器人路径规划方法和系统 |
CN112327856B (zh) * | 2020-11-13 | 2022-12-06 | 云南电网有限责任公司保山供电局 | 一种基于改进A-star算法的机器人路径规划方法 |
CN112327856A (zh) * | 2020-11-13 | 2021-02-05 | 云南电网有限责任公司保山供电局 | 一种基于改进A-star算法的机器人路径规划方法 |
CN112509168A (zh) * | 2020-11-26 | 2021-03-16 | 深圳市中研安创科技发展有限公司 | 高效巡检方法、装置、设备及可读存储介质 |
CN112748733A (zh) * | 2020-12-16 | 2021-05-04 | 广东电网有限责任公司 | 电缆放线车路径规划方法、装置、设备及存储介质 |
CN112748733B (zh) * | 2020-12-16 | 2024-05-07 | 广东电网有限责任公司 | 电缆放线车路径规划方法、装置、设备及存储介质 |
CN113075686B (zh) * | 2021-03-19 | 2024-01-12 | 长沙理工大学 | 一种基于多传感器融合的电缆沟智能巡检机器人建图方法 |
CN113050642A (zh) * | 2021-03-19 | 2021-06-29 | 长沙理工大学 | 一种多传感器融合的电缆沟智能巡检机器人自动导航方法 |
CN113075686A (zh) * | 2021-03-19 | 2021-07-06 | 长沙理工大学 | 一种基于多传感器融合的电缆沟智能巡检机器人建图方法 |
CN113050642B (zh) * | 2021-03-19 | 2024-05-07 | 长沙理工大学 | 一种多传感器融合的电缆沟智能巡检机器人自动导航方法 |
CN113624230B (zh) * | 2021-06-22 | 2023-07-18 | 安克创新科技股份有限公司 | 用于移动机器人的导航路径生成方法和移动机器人 |
CN113624230A (zh) * | 2021-06-22 | 2021-11-09 | 安克创新科技股份有限公司 | 用于移动机器人的导航路径生成方法和移动机器人 |
CN113534823A (zh) * | 2021-09-16 | 2021-10-22 | 季华实验室 | 种植机器人路径规划方法、装置、电子设备和存储介质 |
CN117128975A (zh) * | 2023-10-24 | 2023-11-28 | 国网山东省电力公司济南供电公司 | 一种开关柜巡检作业机器人导航方法、系统、介质及设备 |
CN117128975B (zh) * | 2023-10-24 | 2024-03-12 | 国网山东省电力公司济南供电公司 | 一种开关柜巡检作业机器人导航方法、系统、介质及设备 |
Also Published As
Publication number | Publication date |
---|---|
CN111596654B (zh) | 2023-07-11 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN111596654B (zh) | 基于改进d星路径规划算法的电缆沟机器人导航避障方法 | |
CN110703762B (zh) | 一种复杂环境下水面无人艇混合路径规划方法 | |
CN110471426B (zh) | 基于量子狼群算法的无人驾驶智能车自动避碰方法 | |
Sudhakara et al. | Trajectory planning of a mobile robot using enhanced A-star algorithm | |
CN109917817B (zh) | 多水下机器人协同路径规划方法 | |
Magid et al. | Voronoi-based trajectory optimization for UGV path planning | |
CN115373399A (zh) | 一种基于空地协同的地面机器人路径规划方法 | |
CN113587930B (zh) | 基于多传感融合的自主移动机器人室内外导航方法及装置 | |
Li et al. | Mobile robot path planning based on improved genetic algorithm with A-star heuristic method | |
CN111998858B (zh) | 一种基于改进a*算法的无人机航路规划方法 | |
Hu et al. | Path planning of UGV based on Bézier curves | |
Li et al. | A New Hybrid Method for Mobile Robot Dynamic Local Path Planning in Unknown Environment. | |
CN117705123B (zh) | 一种轨迹规划方法、装置、设备及存储介质 | |
Huang et al. | Path tracking based on improved pure pursuit model and pid | |
Zhou et al. | Slam algorithm and navigation for indoor mobile robot based on ros | |
CN117109620A (zh) | 基于采样的车辆行为与环境交互的自动驾驶路径规划方法 | |
CN116009558A (zh) | 一种结合运动学约束的移动机器人路径规划方法 | |
Yuan et al. | A Q-learning approach based on human reasoning for navigation in a dynamic environment | |
CN114609925B (zh) | 水下探索策略模型的训练方法及仿生机器鱼水下探索方法 | |
Zhong et al. | FGP-Astar Algorithm Based on Path Planning for Mobile Robots | |
Brumitt et al. | Dynamic trajectory planning for a cross-country navigator | |
Jafari et al. | Reactive path planning for emergency steering maneuvers on highway roads | |
Wang et al. | Motion Planning Method for Car-Like Autonomous Mobile Robots in Dynamic Obstacle Environments | |
Suo et al. | Real time obstacle avoidance and navigation with mobile robot via local elevation information | |
Wang et al. | Application of ant colony algorithm in path planning of the data center room robot |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
CB03 | Change of inventor or designer information | ||
CB03 | Change of inventor or designer information |
Inventor after: Ling Zhiyong Inventor after: Wu Changjiang Inventor after: Li Guoxiong Inventor after: Liu Huafei Inventor after: Chen Bin Inventor after: Liu Zheng Inventor after: Li Zhiqiang Inventor after: Shen Weiqiang Inventor after: Tan Liu Inventor before: Ling Zhiyong Inventor before: Li Guoxiong Inventor before: Wu Changjiang Inventor before: Liu Zheng Inventor before: Chen Bin Inventor before: Liu Huafei Inventor before: Li Zhiqiang Inventor before: Shen Weiqiang Inventor before: Tan Liu |
|
GR01 | Patent grant | ||
GR01 | Patent grant |