CN112987740A - Mobile robot path planning control method - Google Patents
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- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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Abstract
The invention belongs to the technical field of path planning, and particularly relates to a path planning control method for a mobile robot; a path planning control method for a mobile robot comprises a data processing step, wherein obstacles in a field are expanded by the radius of the robot, and the expansion is a circle with the obstacles as the center; a judging step, connecting the starting point and the target point to form a straight line, and judging whether the straight line and the circle have an intersection point; and a planning route forming step, namely constructing an auxiliary line segment parallel to the straight line on the circle, and smoothing the formed primary planning route, wherein the smoothed planning route is the optimal path from the starting point to the target point. The invention provides a new path planning control method for a mobile robot, which effectively processes a circular obstacle, and abandons other irrelevant obstacles because only the obstacles which can be touched under the current planned path are researched and processed, so that the calculation time of an algorithm is improved.
Description
Technical Field
The invention belongs to the technical field of path planning, and particularly relates to a path planning control method for a mobile robot.
Background
Path planning for mobile robots is a core and research hotspot in mobile robot-related technical research. The task of robot path planning is to plan an optimal or sub-optimal path from a given starting point to a given target point without collision with obstacles in the environment according to a certain optimization index according to the sensed working environment information. Path planning methods for mobile robots can be divided into two types: one is a global path plan in which the environmental information is completely known, and the other is a local path plan in which the environmental information is unknown or partially unknown. The global path planning can be divided into a plurality of types according to different representation methods of the environment model, and a representative method is a configuration space method. The basic idea of the configuration space method is to simplify the robot to one point and simultaneously perform corresponding expansion treatment on the obstacles, wherein the visual graph method is well developed. The method connects all the barrier vertexes with the unmanned boat starting point and the target point by line segments, if the line segments do not intersect with the barriers, the line segments are considered to be 'visible', and then the optimal path from the starting point to the target point is searched. However, the visual graph method is lack of flexibility, the calculation of the algorithm is long in time, the real-time performance is poor, and the method is not suitable for the path planning problem of the circular obstacle.
Disclosure of Invention
In order to solve the above problems, the present invention provides a new path planning control method for a mobile robot.
The specific technical scheme of the invention is as follows:
the invention provides a path planning control method for a mobile robot, which comprises the following parts:
s1: a data processing step, namely acquiring position information of an obstacle in a field and a ball receiving area and a touch area, and expanding the obstacle in the field into a circle by taking the obstacle as a center by using the radius of the robot;
s2: a judging step, namely taking the position of the robot in the ball catching area as a starting point, taking a target ground contact position in the ball catching area as a target point, connecting the starting point and the target point to form a straight line, judging whether the straight line and the circle have an intersection point, if so, sending an instruction to the step S3, and if not, taking the straight line as an optimal path from the starting point to the target point;
s3: a planning route forming step, wherein an auxiliary line segment parallel to a straight line is constructed on a circle, the auxiliary line segment is a tangent of the circle, the length of the auxiliary line segment is equal to the radius of the circle, two end points of the auxiliary line segment are auxiliary points, and a starting point, the two auxiliary points and a target point are sequentially connected to form a primary planning route;
s4: and an optimal path construction step, namely judging whether each section of the formed planned route intersects with the circle, if so, reconstructing the auxiliary line section to form a final planned route, otherwise, performing smoothing processing on the formed primary planned route, wherein the smoothed planned route is the optimal path from the starting point to the target point.
A mobile robot path planning control system comprises a memory, a processor and a computer program stored on the memory, wherein the processor executes the computer program to realize the steps of the method.
The invention has the following beneficial effects:
the invention provides a new path planning control method for a mobile robot, which effectively processes a circular obstacle, and abandons other irrelevant obstacles because only the obstacles which can be touched under the current planned path are researched and processed, so that the calculation time of an algorithm is improved.
Drawings
FIG. 1 is a flow chart of a path planning control method for a mobile robot according to the present invention;
FIG. 2 is a flowchart of step S2 according to the present invention;
FIG. 3 is a flowchart of step S3 according to the present invention;
FIG. 4(a) is a schematic diagram of path detection in the present invention;
FIG. 4(b) is a schematic diagram of the determination of auxiliary points in the present invention;
FIG. 4(c) is a graph of the effect of fitting curves in the present invention;
fig. 5 is a flowchart of step S4 in the present invention.
Detailed Description
The present invention will be described in further detail with reference to the following examples and drawings.
In some embodiments, the present invention provides a mobile robot path planning control method, as shown in fig. 1, including the following steps:
s1: a data processing step, namely acquiring position information of an obstacle in a field and a ball receiving area and a touch area, and expanding the obstacle in the field into a circle by taking the obstacle as a center by using the radius of the robot;
s2: a judging step, namely taking the position of the robot in the ball catching area as a starting point, taking a target ground contact position in the ball catching area as a target point, connecting the starting point and the target point to form a straight line, judging whether the straight line and the circle have an intersection point, if so, sending an instruction to the step S3, and if not, taking the straight line as an optimal path from the starting point to the target point;
s3: a planning route forming step, wherein an auxiliary line segment parallel to a straight line is constructed on a circle, the auxiliary line segment is a tangent of the circle, the length of the auxiliary line segment is equal to the radius of the circle, two end points of the auxiliary line segment are auxiliary points, and a starting point, the two auxiliary points and a target point are sequentially connected to form a primary planning route;
s4: and an optimal path construction step, namely judging whether each section of the formed planned route intersects with the circle, if so, reconstructing the auxiliary line section to form a final planned route, otherwise, performing smoothing processing on the formed primary planned route, wherein the smoothed planned route is the optimal path from the starting point to the target point.
The invention provides a new path planning control method for a mobile robot, which effectively processes a circular obstacle, and abandons other irrelevant obstacles because only the obstacles which can be touched under the current planned path are researched and processed, so that the calculation time of an algorithm is improved.
In this embodiment, first, it is determined whether the expected path intersects with the obstacle based on the principle that the straight line between two points is shortest, if so, an auxiliary point is selected according to the intersected obstacle, otherwise, the expected path moves along the current expected path. Because the shape of the field cataract obstacle is mostly circular, the radius of the obstacle is intersected with the radius of the robot and whether the circle of the radius is intersected with each section of expected curve by judging the center point of the obstacle as the circle center.
As shown in fig. 2, step S2 in this embodiment includes the following steps:
s21: establishing a plane coordinate system by taking a straight line formed by the starting point and the target point as an x axis by taking the starting point as an origin;
s22: calculating the coordinates of each point on the circle according to the plane coordinate system;
s23: and judging whether the ordinate of a point on the circle is 0, if so, determining that the circle has an intersection point with the straight line formed by the starting point and the target point, otherwise, determining that no intersection point exists.
In this embodiment, a plane coordinate system is established with the starting point as the origin, and whether each point on the circle intersects with the x-axis is determined by determining whether the ordinate of the point on the circle is 0.
As shown in fig. 3, step S3 in this embodiment includes the following steps:
s31: judging whether only one auxiliary line segment parallel to a straight line formed by the initial point and the target point exists, if so, sequentially connecting the initial point, the two auxiliary points and the target point to form a primary planned route, and otherwise, performing the step S32;
s32: calculating coordinates of the target point and the central point on each auxiliary line segment, and calculating the vertical distance from the central point to the x axis of the plane coordinate system;
s33: and comparing the sizes of the vertical distances, and leaving the auxiliary line segment with the minimum vertical distance as a determined auxiliary line segment, wherein the rest auxiliary line segments are hidden.
In this embodiment, there may be more than one auxiliary line segment parallel to the x axis, and at this time, an auxiliary line segment having the shortest distance to the x axis needs to be determined to construct the optimal path.
The midpoint of the auxiliary line segment in step S32 in this embodiment is a point on the circle.
In step S33 of this embodiment, two end points of the assistant line segment are used as assistant points, coordinates of the two assistant points are calculated based on the plane coordinate system, and the start point, each assistant point, and the target point are sequentially connected based on the coordinates of each point. In this embodiment, coordinates of the starting point, each auxiliary point, and the target point need to be calculated, and the points are connected through the coordinates to construct an optimal path, so that the robot can move conveniently.
In this embodiment, the smoothing process of the planned route in step S4 is performed by fitting using a non-uniform B-spline method.
As shown in fig. 4(a), in order to facilitate the study of the movement locus of the mobile robot, the obstacle is expanded by the radius of the robot, the movement of the robot is regarded as the movement of a point, the starting point and the target point are respectively set as a and B, and the obstacle is the center point O1Expand the circle and set the coordinate of the center point to (x)1，y1)；
As shown in fig. 4(b), since the obstacle is circular and has no vertex, an auxiliary point is made to determine the feasible path, and the auxiliary point is determined according to the included angle between the starting point and the target point connecting line and the horizontal line. Assume starting point A and target point B, O1Is the center of a barrier, GO1Is a radius due to O1Is located below the line AB, and therefore an auxiliary vertex is made above AB to achieve local path shortest. Making line CD parallel to AB and circle O1Tangent and with a length of a circle O1Diameter, G is the CD midpoint. From the geometric relationship, the coordinates of the auxiliary point C, D can be found, where the coordinates of the point D are as follows:
x3＝x1+GD·cosα-GO1·sinα
y3＝y1+GD·sinα+GO1·cosα
the C point coordinate can be obtained by the same method. Then the starting point, the auxiliary point C, D and the target point are connected to form a broken line, and whether each section of the route intersects with the barrier or not is judged until the route is completely accessible.
And smoothing the generated path, wherein the generated path is fitted by adopting a non-uniform B-spline method, the broken line is divided into a plurality of parts under the condition that a starting point, an auxiliary point and a target point in the planned path are known, and a fitted curve (shown in figure 4 (c)) passes through the known point and is closest to the original broken line.
As shown in fig. 5, step S4 in this embodiment includes the following steps:
s41: calculating the coordinates of each point on the formed preliminary planning route based on a plane coordinate system;
s42: judging whether the coordinates of each point are overlapped with the coordinates of each point on the circle, if not, performing smoothing processing on the primary planned route, and if so, performing step S43;
s43: judging whether a straight line formed by the starting point and the target point is intersected with a circle formed by expansion of an obstacle, if so, reconstructing a determined auxiliary line segment to form a final planned route, and if not, performing the step S44:
s44: and judging the positions of points which are superposed with the coordinates of each point on the circle on the preliminarily formed planning route, reconstructing the auxiliary line segments corresponding to the circle if the auxiliary line segments are superposed on one of the circular auxiliary line segments, and reconstructing all the auxiliary line segments corresponding to the circle if the auxiliary line segments on each circle have superposed points.
Reconstructing the auxiliary line segment in step S43 and step S44 in this embodiment includes:
and displaying the auxiliary line segment with the second smallest vertical distance in the hidden auxiliary line segments as a determined auxiliary line segment, taking two end points of the determined auxiliary line segment as auxiliary points, sequentially connecting the starting point, the two auxiliary points and the target point to form a secondary planned route, repeating the step S42 after calculating the coordinates of each point on the secondary planned route until the coordinates of each point on the planned route and the coordinates of each point on the circle do not coincide to form a final planned route, and smoothing the final planned route.
The present embodiment is characterized in that step S4 further includes the following steps:
s45: when coordinates of points in all auxiliary line segments corresponding to the circle coincide with the coordinates of the points on the circle, a straight line segment tangent to the circle is randomly selected from the circle formed by expansion of the barrier as a complement auxiliary line segment, the center point of the complement auxiliary line segment coincides with the point on the circle, two end points of the complement auxiliary line segment serve as complement auxiliary points, the starting point, the complement auxiliary point and the target point are sequentially connected to form a complement planning route, the step S42 is repeated after the coordinates of the points on the complement planning route are calculated until the coordinates of the points on the planning route do not coincide with the coordinates of the points on the circle, and the complement planning route is subjected to smoothing processing;
preferably, the supplementary line segment is a tangent line having the shortest vertical distance between the center point and the planar coordinate system.
In this embodiment, the construction of the optimal path is ensured by the above method, when the preliminary planned route intersects with the circle, a secondary planned route is constructed by using an auxiliary line segment having the second shortest vertical distance, and when all the auxiliary line segments intersect with the obstacle, a tangent is selected from the circle as a complementary auxiliary line segment having the shortest vertical distance to the x-axis among all tangents that are not parallel to the x-axis.
The invention also provides a mobile robot path planning control system, which comprises a memory, a processor and a computer program stored on the memory, wherein the processor executes the computer program to realize the steps of the method.
The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solution of the present invention by those skilled in the art should fall within the protection scope defined by the claims of the present invention without departing from the spirit of the present invention.
Claims (10)
1. A mobile robot path planning control method is characterized by comprising the following parts:
s1: a data processing step, namely acquiring position information of an obstacle in a field and a ball receiving area and a touch area, and expanding the obstacle in the field into a circle by taking the obstacle as a center by using the radius of the robot;
s2: a judging step, namely taking the position of the robot in the ball catching area as a starting point, taking a target ground contact position in the ball catching area as a target point, connecting the starting point and the target point to form a straight line, judging whether the straight line and the circle have an intersection point, if so, sending an instruction to the step S3, and if not, taking the straight line as an optimal path from the starting point to the target point;
s3: a planning route forming step, wherein an auxiliary line segment parallel to a straight line is constructed on a circle, the auxiliary line segment is a tangent of the circle, the length of the auxiliary line segment is equal to the radius of the circle, two end points of the auxiliary line segment are auxiliary points, and a starting point, the two auxiliary points and a target point are sequentially connected to form a primary planning route;
s4: and an optimal path construction step, namely judging whether each section of the formed planned route intersects with the circle, if so, reconstructing the auxiliary line section to form a final planned route, otherwise, performing smoothing processing on the formed primary planned route, wherein the smoothed planned route is the optimal path from the starting point to the target point.
2. The mobile robot path planning control method according to claim 1, wherein step S2 includes the following steps:
s21: establishing a plane coordinate system by taking a straight line formed by the starting point and the target point as an x axis by taking the starting point as an origin;
s22: calculating the coordinates of each point on the circle according to the plane coordinate system;
s23: and judging whether the ordinate of a point on the circle is 0, if so, determining that the circle has an intersection point with the straight line formed by the starting point and the target point, otherwise, determining that no intersection point exists.
3. The mobile robot path planning control method according to claim 2, wherein step S3 includes the following steps:
s31: judging whether only one auxiliary line segment parallel to a straight line formed by the initial point and the target point exists, if so, sequentially connecting the initial point, the two auxiliary points and the target point to form a primary planned route, and otherwise, performing the step S32;
s32: calculating coordinates of the target point and the central point on each auxiliary line segment, and calculating the vertical distance from the central point to the x axis of the plane coordinate system;
s33: and comparing the sizes of the vertical distances, and leaving the auxiliary line segment with the minimum vertical distance as a determined auxiliary line segment, wherein the rest auxiliary line segments are hidden.
4. The mobile robot path planning control method according to claim 3, wherein the midpoint of the auxiliary line segment in step S32 is a point on a circle.
5. The mobile robot path planning control method according to claim 4, wherein in step S33, the two end points of the auxiliary line segment are used as auxiliary points, coordinates of the two auxiliary points are calculated based on a planar coordinate system, and the start point, each of the auxiliary points, and the target point are sequentially connected based on the coordinates of each of the points.
6. The mobile robot path planning control method according to claim 5, wherein step S4 includes the following steps:
s41: calculating the coordinates of each point on the formed preliminary planning route based on a plane coordinate system;
s42: judging whether the coordinates of each point are overlapped with the coordinates of each point on the circle, if not, performing smoothing processing on the primary planned route, and if so, performing step S43;
s43: judging whether a straight line formed by the starting point and the target point is intersected with a circle formed by expansion of an obstacle, if so, reconstructing a determined auxiliary line segment to form a final planned route, and if not, performing the step S44:
s44: and judging the positions of points which are superposed with the coordinates of each point on the circle on the preliminarily formed planning route, reconstructing the auxiliary line segments corresponding to the circle if the auxiliary line segments are superposed on one of the circular auxiliary line segments, and reconstructing all the auxiliary line segments corresponding to the circle if the auxiliary line segments on each circle have superposed points.
7. The mobile robot path planning control method of claim 6, wherein the reconstructing the auxiliary line segment in steps S43 and S44 includes:
and displaying the auxiliary line segment with the second smallest vertical distance in the hidden auxiliary line segments as a determined auxiliary line segment, taking two end points of the determined auxiliary line segment as auxiliary points, sequentially connecting the starting point, the two auxiliary points and the target point to form a secondary planned route, repeating the step S42 after calculating the coordinates of each point on the secondary planned route until the coordinates of each point on the planned route and the coordinates of each point on the circle do not coincide to form a final planned route, and smoothing the final planned route.
8. The mobile robot path planning control method according to claim 7, wherein step S4 further includes the following steps:
s45: when coordinates of points in all auxiliary line segments corresponding to the circle coincide with the coordinates of the points on the circle, a straight line segment tangent to the circle is randomly selected from the circle formed by expansion of the barrier as a complement auxiliary line segment, the center point of the complement auxiliary line segment coincides with the point on the circle, two end points of the complement auxiliary line segment serve as complement auxiliary points, the starting point, the complement auxiliary point and the target point are sequentially connected to form a complement planning route, the step S42 is repeated after the coordinates of the points on the complement planning route are calculated until the coordinates of the points on the planning route do not coincide with the coordinates of the points on the circle, and the complement planning route is subjected to smoothing processing;
preferably, the supplementary line segment is a tangent line having the shortest vertical distance between the center point and the planar coordinate system.
9. The mobile robot path planning control method according to claim 1, wherein the smoothing process of the planned route in step S4 is fit using a non-uniform B-spline method.
10. A mobile robot path planning control system comprising a memory, a processor and a computer program stored on the memory, wherein the processor executes the computer program to perform the steps of the method of claim 1.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113534818A (en) * | 2021-08-24 | 2021-10-22 | 珠海格力电器股份有限公司 | Path navigation planning method and device, storage medium and electronic equipment |
| CN113534818B (en) * | 2021-08-24 | 2023-09-26 | 珠海格力电器股份有限公司 | Path navigation planning method and device, storage medium and electronic equipment |
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