CN111880534A - Secondary path planning method based on grid map - Google Patents

Secondary path planning method based on grid map Download PDF

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CN111880534A
CN111880534A CN202010688974.9A CN202010688974A CN111880534A CN 111880534 A CN111880534 A CN 111880534A CN 202010688974 A CN202010688974 A CN 202010688974A CN 111880534 A CN111880534 A CN 111880534A
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path
grid
point
inflection
collision
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匡兵
孙毛毛
景晖
刘溯奇
刘飞
黄春跃
崔更申
储艺
李振东
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Guilin University of Electronic Technology
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    • 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

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Abstract

The invention discloses a secondary path planning method based on a grid map. In the process of planning a path on a grid map by using a path search algorithm, firstly, the detection and elimination of a path collision point are carried out, and then redundant meanders existing in the path are eliminated on the basis of collision elimination. The number of times of contact between the route subjected to quadratic programming and the obstacle is 0, and all redundant inflection points in the route are eliminated. The mobile robot runs on the path after the secondary planning, the running path can be effectively shortened, a large amount of running time is saved, and the running safety of the mobile robot is ensured by eliminating the setting of a safety distance threshold value through collision. Therefore, the method greatly improves the working efficiency of the mobile robot.

Description

Secondary path planning method based on grid map
Technical Field
The invention relates to the technical field of path planning of mobile robots, in particular to a secondary path planning method based on a grid map.
Background
With the continuous improvement of modern intellectualization, the mobile robot plays an important role in the fields of industrial production, social service industry, family life and the like. Such as a home floor sweeping robot, a meal delivery robot, a logistics package delivery AGV, and the like. Path planning is always a research hotspot at home and abroad as a key technology in mobile robot technology. The quality of the planned path directly influences the driving safety and the working efficiency of the mobile robot. The grid map is used as a map frequently used for path planning, and has the advantages of simple modeling, convenience in use and the like. However, paths planned based on the grid map generally have problems of path meandering, many inflection points, collision with obstacle grids, and the like, resulting in collision of the mobile robot with obstacles and increase of travel paths. While the traditional path search algorithm for path planning based on the grid map rarely considers path obstacle elimination and path meandering elimination simultaneously, and the optimized path is not more direct and effective.
Disclosure of Invention
The invention aims to solve the problems of path collision and path tortuosity existing in path planning in a grid map, and provides a secondary path planning method based on the grid map.
The technical scheme for realizing the purpose of the invention is as follows:
a secondary path planning method based on a grid map comprises the following steps:
1) establishing a grid map environment model according to the size of the mobile robot, the total size of a working space and the distribution of obstacles in the working space, wherein the model is a grid map matrix G with the size of N x N, an adjacent matrix D is set as a distance value between each grid and other grids in the grid map, the adjacent matrix D is a matrix with the size of (N x N), and the impassability between any two grids is represented by 0;
2) initializing each parameter of a path search algorithm and a grid map environment model, starting from a first grid of a grid map, judging whether a current grid and an adjacent grid are in a passable diagonal relationship, if so, judging whether the passable diagonal grid path has collision with other barrier grids, if so, updating corresponding element values in an adjacent matrix D, and judging whether the number of the judged grids is equal to N2Otherwise, repeating the step 2) until all grids in the grid map matrix are traversed;
3) performing path planning by adopting a path search algorithm on the basis of the updated adjacency matrix to obtain a tortuous path after collision elimination;
4) searching all the inflection points existing in the tortuous path by using a slope discrimination method, storing the inflection points into a inflection point set, and then storing the starting point and the target point into the inflection point set as a starting inflection point and an ending inflection point of the tortuous path;
5) setting a distance threshold value for safe driving of the mobile robot according to the size of the mobile robot and the size of the grid unit, under the constraint of the distance threshold value, starting path meandering elimination judgment from an initial meandering point, judging that 3 meandering points in a meandering point set are included each time, wherein initial i is 3, if a meandering point i-1 is a redundant meandering point, eliminating the meandering point, and otherwise, keeping the meandering point i-1 and connecting the meandering point i-1 to the judged path; then judging whether the inflection point i is a target inflection point, if the inflection point i is the target point, performing the step 6), otherwise, repeating the step 5) until all the inflection points in the inflection point set are traversed;
6) and finally obtaining a path without collision and redundant meander according to a collision elimination and path meander elimination algorithm.
In the step 1), the grid map matrix G initializes a single grid in the grid map to 1m according to the actual map size and the mobile robot vehicle body size, an element 0 in the grid map matrix G represents a free grid, 1 represents an obstacle grid, and an initialization adjacency matrix D is a distance value between each grid and other grids in the grid map.
In step 2), the step of judging whether the current grid and the adjacent grid are in a passable diagonal relationship comprises the following specific steps:
in the grid matrix, the coordinates of the current grid (i, j) are (x)ij，yij) The coordinate of the adjacent grid (m, n) is (x)mn，ymn) First, the absolute values of the distances between the two grids in the x-direction and the y-direction are calculated according to the following formula (1):
Figure BDA0002588640420000021
wherein L isim，LjnRespectively representing the absolute values of the distances between the two grids in the x direction and the y direction, and judging the position relation between the current grid (i, j) and any adjacent grid (m, n) according to the following formula (2):
Figure BDA0002588640420000022
wherein Z is01 indicates that the current grids (i, j) and (m, n) are located in the diagonal direction, and whether a path collision exists needs to be judged; z 00 means that the current grids (i, j) and (m, n) are in the same horizontal or vertical direction and there is no collision in the path.
In step 2), the step of judging whether the diagonal raster path capable of being run collides with other obstacle raster or not comprises the following specific steps: at Z0In case of 1, it is determined whether there is a collision in the path between the current grid (i, j) and the adjacent diagonal grid (m, n) according to the following formula (3):
Figure BDA0002588640420000031
wherein, G (i, n) ═ G (m, j) ═ 1 indicates that the grid in the oblique downward direction or oblique upward direction of the current path is an obstacle grid, and in this case, Z is set to be an obstacle grid 11, tableIf the current path has collision, the path is finally set as unable to pass by updating the distance information related to the current grid (i, j) in the adjacency matrix D, and Z is10 means that the current path is collision-free and the adjacency matrix D does not need to be updated.
In the step 4), the path inflection point is judged and stored, and the specific method comprises the following steps:
and (4) storing the path points planned in the step (3) into a path point set, then starting from a second path point, judging whether the slopes of the paths on the two sides of the path points are changed, if so, storing the path points into the zigzag point set, judging the next path point until a target path point is judged, and finally, respectively taking the starting point and the target point as a starting zigzag point and an ending zigzag point and storing the starting point and the target point into the zigzag point set.
In step 5), the distance threshold is set to ensure safety of the robot driving on the planned path and whether the safety driving requirement can be met after a zigzag point in the path is eliminated, and the safety distance threshold between the robot and the obstacle grid needs to be set, specifically, the safety distance threshold is set to be half of the sum of the size of the robot and the diagonal distance of the obstacle grid.
In step 5), whether the inflection point is a redundant inflection point is judged and eliminated, and the specific method comprises the following steps:
setting the initial i to 3, and setting the initial bending point (i-2) in the bending point set as T1The inflection point (i-1) is T2The inflection point i is T3(ii) a At a point T containing a bend1、T2And T3Searching all barrier grids in the maximum area, and calculating the center of the barrier grid to the inflection point T1And T3The vertical distance dis of the straight path; if dis is smaller than the safety distance threshold value, the inflection point T is reserved2And updating the determined path and setting a inflection point T1＝T2,T2＝T3，T3I + 1; otherwise, the inflection point T1For redundant inflection points, the inflection point T is cancelled1Setting T2＝T3，T3I + 1; if the path meandering elimination judgment contains the target meandering point, the method further comprisesAnd (5) newly bending the path and outputting the final path after the secondary path planning, otherwise, judging the next bending point when i is i + 1.
Compared with the existing path planning technology based on the raster map, the method for planning the secondary path based on the raster map simultaneously solves the problems of path tortuosity, more inflection points, collision with obstacle raster and the like in path planning. The method firstly improves the path collision elimination, then eliminates the path tortuosity on the basis of the path after the collision elimination, the contact frequency of the path after the secondary planning and the obstacle is 0, and eliminates all redundant tortuosity points in the path. The mobile robot runs on the path after the secondary planning, so that a large amount of time can be saved, and the running safety of the mobile robot is ensured through the calculation of the safety distance threshold value. Therefore, the method greatly improves the working efficiency of the mobile robot.
Drawings
FIG. 1 is a flow chart of a method for quadric path planning based on a grid map;
FIG. 2 is an analysis of a path through the vertices of a barrier grid;
FIG. 3 is a graph of a tortuous path and a plot of tortuosity;
fig. 4 is a comparison graph of results before and after secondary path planning based on a grid map.
Detailed Description
The invention will be further elucidated with reference to the drawings and examples, without however being limited thereto.
As shown in fig. 1, a secondary path planning method based on a grid map includes the following steps:
1) establishing a grid map environment model according to the size of the mobile robot, the total size of a working space and the distribution of obstacles in the working space, wherein the model is a grid map matrix G with the size of N x N, an adjacent matrix D is set as a distance value between each grid and other grids in the grid map, the adjacent matrix D is a matrix with the size of (N x N), and the impassability between any two grids is represented by 0;
2) initializing each parameter of a path search algorithm and a grid map environment model, starting from a first grid of a grid map, judging whether a current grid and an adjacent grid are in a passable diagonal relationship, if so, judging whether the passable diagonal grid path has collision with other barrier grids, if so, updating corresponding element values in an adjacent matrix D, and judging whether the number of the judged grids is equal to N2Otherwise, repeating the step 2) until all grids in the grid map matrix are traversed;
3) performing path planning by adopting a path search algorithm on the basis of the updated adjacency matrix to obtain a tortuous path after collision elimination;
4) searching all the inflection points existing in the tortuous path by using a slope discrimination method, storing the inflection points into a inflection point set, and then storing the starting point and the target point into the inflection point set as a starting inflection point and an ending inflection point of the tortuous path;
5) setting a distance threshold value for safe driving of the mobile robot according to the size of the mobile robot and the size of the grid unit, under the constraint of the distance threshold value, starting path meandering elimination judgment from an initial meandering point, judging that 3 meandering points in a meandering point set are included each time, wherein initial i is 3, if a meandering point i-1 is a redundant meandering point, eliminating the meandering point, and otherwise, keeping the meandering point i-1 and connecting the meandering point i-1 to the judged path; then judging whether the inflection point i is a target inflection point, if the inflection point i is the target point, performing the step 6), otherwise, repeating the step 5) until all the inflection points in the inflection point set are traversed;
6) and finally obtaining a path without collision and redundant meander according to a collision elimination and path meander elimination algorithm.
In the step 1), the grid map matrix G initializes a single grid in the grid map to 1m according to the actual map size and the mobile robot vehicle body size, an element 0 in the grid map matrix G represents a free grid, 1 represents an obstacle grid, and an initialization adjacency matrix D is a distance value between each grid and other grids in the grid map.
In step 2), the step of judging whether the current grid and the adjacent grid are in a passable diagonal relationship comprises the following specific steps:
in the grid matrix, the coordinates of the current grid (i, j) are (x)ij，yij) The coordinate of the adjacent grid (m, n) is (x)mn，ymn) First, the absolute values of the distances between the two grids in the x-direction and the y-direction are calculated according to the following formula (1):
Figure BDA0002588640420000051
wherein L isim，LjnRespectively representing the absolute values of the distances between the two grids in the x direction and the y direction, and judging the position relation between the current grid (i, j) and any adjacent grid (m, n) according to the following formula (2):
Figure BDA0002588640420000052
wherein Z is01 indicates that the current grids (i, j) and (m, n) are located in the diagonal direction, and whether a path collision exists needs to be judged; z 00 means that the current grids (i, j) and (m, n) are in the same horizontal or vertical direction and there is no collision in the path.
In step 2), the step of judging whether the diagonal raster path capable of being run collides with other obstacle raster or not comprises the following specific steps: at Z0In case of 1, it is determined whether there is a collision in the path between the current grid (i, j) and the adjacent diagonal grid (m, n) according to the following formula (3):
Figure BDA0002588640420000061
wherein, G (i, n) ═ G (m, j) ═ 1 indicates that the grid in the oblique downward direction or oblique upward direction of the current path is an obstacle grid, and in this case, Z is set to be an obstacle grid1When 1 indicates that there is a collision on the current path, the path is finally set as non-passable by updating the distance information associated with the current grid (i, j) in the adjacency matrix D, and Z is the value 10 means that the current path is collision-free and the adjacency matrix D does not need to be updated.
In the step 4), the path inflection point is judged and stored, and the specific method comprises the following steps:
and (4) storing the path points planned in the step (3) into a path point set, then starting from a second path point, judging whether the slopes of the paths on the two sides of the path points are changed, if so, storing the path points into the zigzag point set, judging the next path point until a target path point is judged, and finally, respectively taking the starting point and the target point as a starting zigzag point and an ending zigzag point and storing the starting point and the target point into the zigzag point set.
In step 5), the distance threshold is set to ensure safety of the robot driving on the planned path and whether the safety driving requirement can be met after a zigzag point in the path is eliminated, and the safety distance threshold between the robot and the obstacle grid needs to be set, specifically, the safety distance threshold is set to be half of the sum of the size of the robot and the diagonal distance of the obstacle grid.
In step 5), whether the inflection point is a redundant inflection point is judged and eliminated, and the specific method comprises the following steps:
setting the initial i to 3, and setting the initial bending point (i-2) in the bending point set as T1The inflection point (i-1) is T2The inflection point i is T3(ii) a At a point T containing a bend1、T2And T3Searching all barrier grids in the maximum area, and calculating the center of the barrier grid to the inflection point T1And T3The vertical distance dis of the straight path; if dis is smaller than the safety distance threshold value, the inflection point T is reserved2And updating the determined path and setting a inflection point T1＝T2,T2＝T3，T3I + 1; otherwise, the inflection point T1For redundant inflection points, the inflection point T is cancelled1Setting T2＝T3，T3I + 1; and if the path zigzag elimination judgment contains the target zigzag point, updating the zigzag path and outputting the final path after the secondary path planning, and if not, judging the next zigzag point, wherein i is i + 1.
Example (b):
1. by adopting the method, the grid map environment model with the size of 20m x 20m is established according to the size of the mobile robot, the overall size of the working space and the distribution of the obstacles, as shown in a grid map in fig. 4.
2. Fig. 2 shows all possible cases where the path passes through the vertices of the obstacle grid. The invention analyzes all possible situations that the path passes through the top point of the barrier grid, then traverses the grid map matrix from the first grid, judges whether the current grid and the adjacent grid are in a passable diagonal relationship, and judges whether the passable diagonal grid path collides with other barrier grids. If there is an obstacle collision, the information in the adjacency matrix D is updated.
3. And (4) on the basis of the adjacency matrix D updated in the step (3), performing path planning by using a path search algorithm, such as an A-star algorithm, an ant colony algorithm and the like, and generating a tortuous path.
4. Fig. 3 shows a path meandering phenomenon generated by path planning using a grid map as a model. And (3) judging and storing the zigzag points of the zigzag path generated in the step (3), setting a safe driving distance threshold value according to the size of the mobile robot and the size of the grid unit, and finally judging and eliminating whether the zigzag points are redundant zigzag points.
5. Fig. 4 is a result of the operation of the grid map-based secondary path planning method of the present invention, which shows that the collision with the obstacle grid is 0 after the secondary path planning, and all unnecessary inflection points are reduced. The mobile robot needs to perform deceleration, stop and turning actions at the inflection points, so that the time is long, a large amount of time can be saved for the mobile robot by reducing all unnecessary inflection points, and the working efficiency of the mobile robot is improved.

Claims (7)

1. A secondary path planning method based on a grid map is characterized by comprising the following steps:
1) establishing a grid map environment model according to the size of the mobile robot, the total size of a working space and the distribution of obstacles in the working space, wherein the model is a grid map matrix G with the size of N x N, an adjacent matrix D is set as a distance value between each grid and other grids in the grid map, the adjacent matrix D is a matrix with the size of (N x N), and the impassability between any two grids is represented by 0;
2) initializing each parameter of a path search algorithm and a grid map environment model, starting from a first grid of a grid map, judging whether a current grid and an adjacent grid are in a passable diagonal relationship, if so, judging whether the passable diagonal grid path has collision with other barrier grids, if so, updating corresponding element values in an adjacent matrix D, and judging whether the number of the judged grids is equal to N2Otherwise, repeating the step 2) until all grids in the grid map matrix are traversed;
3) performing path planning by adopting a path search algorithm on the basis of the updated adjacency matrix to obtain a tortuous path after collision elimination;
4) searching all the inflection points existing in the tortuous path by using a slope discrimination method, storing the inflection points into a inflection point set, and then storing the starting point and the target point into the inflection point set as a starting inflection point and an ending inflection point of the tortuous path;
5) setting a distance threshold value for safe driving of the mobile robot according to the size of the mobile robot and the size of the grid unit, under the constraint of the distance threshold value, starting path meandering elimination judgment from an initial meandering point, judging that 3 meandering points in a meandering point set are included each time, wherein initial i is 3, if a meandering point i-1 is a redundant meandering point, eliminating the meandering point, and otherwise, keeping the meandering point i-1 and connecting the meandering point i-1 to the judged path; then judging whether the inflection point i is a target inflection point, if the inflection point i is the target point, performing the step 6), otherwise, repeating the step 5) until all the inflection points in the inflection point set are traversed;
6) and finally obtaining a path without collision and redundant meander according to a collision elimination and path meander elimination algorithm.
2. The method according to claim 1, wherein in the step 1), the grid map matrix G initializes a single grid particle to 1m in the grid map according to the actual map size and the mobile robot vehicle body size, an element 0 in the grid map matrix G represents a free grid, 1 represents an obstacle grid, and an initialization adjacency matrix D represents a distance value between each grid and other grids in the grid map.
3. The grid map-based secondary path planning method according to claim 1, wherein in step 2), the step of determining whether the current grid and the adjacent grid are in a passable diagonal relationship comprises the specific steps of:
in the grid matrix, the coordinates of the current grid (i, j) are (x)ij，yij) The coordinate of the adjacent grid (m, n) is (x)mn，ymn) First, the absolute values of the distances between the two grids in the x-direction and the y-direction are calculated according to the following formula (1):
Figure FDA0002588640410000021
wherein L isim，LjnRespectively representing the absolute values of the distances between the two grids in the x direction and the y direction, and judging the position relation between the current grid (i, j) and any adjacent grid (m, n) according to the following formula (2):
Figure FDA0002588640410000022
wherein Z is01 indicates that the current grids (i, j) and (m, n) are located in the diagonal direction, and whether a path collision exists needs to be judged; z00 means that the current grids (i, j) and (m, n) are in the same horizontal or vertical direction and there is no collision in the path.
4. The grid map-based secondary path planning method according to claim 1, wherein in step 2), the judgment is performedWhether the passing diagonal raster path collides with other barrier raster or not is specifically determined by the following steps: at Z0In case of 1, it is determined whether there is a collision in the path between the current grid (i, j) and the adjacent diagonal grid (m, n) according to the following formula (3):
Figure FDA0002588640410000023
wherein, G (i, n) ═ G (m, j) ═ 1 indicates that the grid in the oblique downward direction or oblique upward direction of the current path is an obstacle grid, and in this case, Z is set to be an obstacle grid1When 1 indicates that there is a collision on the current path, the path is finally set as non-passable by updating the distance information associated with the current grid (i, j) in the adjacency matrix D, and Z is the value10 means that the current path is collision-free and the adjacency matrix D does not need to be updated.
5. The grid map-based quadratic path planning method according to claim 1, wherein in the step 4), the judgment and storage of the path inflection point are specifically performed by:
and (4) storing the path points planned in the step (3) into a path point set, then starting from a second path point, judging whether the slopes of the paths on the two sides of the path points are changed, if so, storing the path points into the zigzag point set, judging the next path point until a target path point is judged, and finally, respectively taking the starting point and the target point as a starting zigzag point and an ending zigzag point and storing the starting point and the target point into the zigzag point set.
6. The method according to claim 1, wherein in step 5), the distance threshold is set to ensure safety of the robot driving on the planned path and whether the safety driving requirement can be met after eliminating a turning point in the path, and specifically, the safety distance threshold is set to be half of the sum of the size of the robot and the diagonal distance of the obstacle grid.
7. The raster map-based secondary path planning method according to claim 1, wherein in step 5), whether a inflection point is a redundant inflection point is determined and eliminated by the specific method:
setting the initial i to 3, and setting the initial bending point (i-2) in the bending point set as T1The inflection point (i-1) is T2The inflection point i is T3(ii) a At a point T containing a bend1、T2And T3Searching all barrier grids in the maximum area, and calculating the center of the barrier grid to the inflection point T1And T3The vertical distance dis of the straight path; if dis is smaller than the safety distance threshold value, the inflection point T is reserved2And updating the determined path and setting a inflection point T1＝T2,T2＝T3，T3I + 1; otherwise, the inflection point T1For redundant inflection points, the inflection point T is cancelled1Setting T2＝T3，T3I + 1; and if the path zigzag elimination judgment contains the target zigzag point, updating the zigzag path and outputting the final path after the secondary path planning, and if not, judging the next zigzag point, wherein i is i + 1.
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CN113577772A (en) * 2021-09-27 2021-11-02 深圳易帆互动科技有限公司 Tile map-based unit moving method and device and readable storage medium
CN114460968A (en) * 2022-02-14 2022-05-10 江西理工大学 Unmanned aerial vehicle path searching method and device, electronic equipment and storage medium
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