CN113625721B - 一种未知空间自主探索规划方法 - Google Patents
一种未知空间自主探索规划方法 Download PDFInfo
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- CN113625721B CN113625721B CN202110953148.7A CN202110953148A CN113625721B CN 113625721 B CN113625721 B CN 113625721B CN 202110953148 A CN202110953148 A CN 202110953148A CN 113625721 B CN113625721 B CN 113625721B
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- 238000005070 sampling Methods 0.000 claims abstract description 36
- 238000010586 diagram Methods 0.000 claims description 11
- 238000004364 calculation method Methods 0.000 claims description 4
- 230000017105 transposition Effects 0.000 claims description 3
- 241000282414 Homo sapiens Species 0.000 abstract 1
- 230000009286 beneficial effect Effects 0.000 description 1
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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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
- G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons 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, 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
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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
- G05D1/0223—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, 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
- G05D1/0231—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
-
- 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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- 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
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Optics & Photonics (AREA)
- Electromagnetism (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
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CN202110953148.7A CN113625721B (zh) | 2021-08-19 | 2021-08-19 | 一种未知空间自主探索规划方法 |
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CN202110953148.7A CN113625721B (zh) | 2021-08-19 | 2021-08-19 | 一种未知空间自主探索规划方法 |
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CN113625721A CN113625721A (zh) | 2021-11-09 |
CN113625721B true CN113625721B (zh) | 2023-05-16 |
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Families Citing this family (12)
Publication number | Priority date | Publication date | Assignee | Title |
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CN114115363B (zh) * | 2021-12-04 | 2023-07-18 | 中国人民解放军国防科技大学 | 一种基于动态目标追踪的多无人机未知室内空间探索方法 |
CN114296475A (zh) * | 2021-12-06 | 2022-04-08 | 中国兵器科学研究院 | 一种未知空间探索系统、方法、装置、设备及介质 |
CN114485703B (zh) * | 2021-12-31 | 2024-01-30 | 杭州电子科技大学 | 一种基于黏菌和随机搜索树的路径规划方法 |
CN114578824B (zh) * | 2022-03-04 | 2024-05-10 | 哈尔滨工业大学 | 一种适用于空地两用机器人的未知环境自主探索方法 |
CN114690769B (zh) * | 2022-03-07 | 2024-05-10 | 美的集团(上海)有限公司 | 路径规划方法、电子设备及存储介质、计算机程序产品 |
CN114740866A (zh) * | 2022-05-10 | 2022-07-12 | 山东大学 | 基于深度学习的机器人自主探索方法及系统 |
CN114755373B (zh) * | 2022-06-16 | 2023-03-31 | 西安工业大学 | 一种基于多机器人编队的空气污染源预警定位方法 |
CN115469662B (zh) * | 2022-09-13 | 2023-07-07 | 苏州大学 | 一种环境探索方法、装置及应用 |
CN115617053B (zh) * | 2022-12-19 | 2023-03-17 | 松灵机器人(深圳)有限公司 | 障碍物遍历方法、装置、割草机器人以及存储介质 |
CN116382307B (zh) * | 2023-06-05 | 2023-08-01 | 南开大学 | 基于未知连通区域质心的多机器人自主探索方法及系统 |
CN116679712B (zh) * | 2023-06-19 | 2024-07-12 | 苏州大学 | 一种基于广义维诺图的室内环境机器人高效探索决策方法 |
CN117930855A (zh) * | 2024-03-25 | 2024-04-26 | 山东工程职业技术大学 | 用于建筑工地的机器人巡检方法及系统 |
Citations (3)
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CN109341707A (zh) * | 2018-12-03 | 2019-02-15 | 南开大学 | 未知环境下移动机器人三维地图构建方法 |
CN110221614A (zh) * | 2019-06-14 | 2019-09-10 | 福州大学 | 一种基于快速探索随机树的多机器人地图探索方法 |
CN113238554A (zh) * | 2021-05-08 | 2021-08-10 | 武汉科技大学 | 一种基于激光与视觉融合slam技术的室内导航方法及系统 |
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CN106444740B (zh) * | 2016-07-15 | 2019-03-12 | 浙江工业大学 | 基于mb-rrt的无人机二维航迹规划方法 |
US11119510B2 (en) * | 2019-07-29 | 2021-09-14 | Aurora Flight Sciences Corporation, a subsidiary of The Boeing Company | Systems and methods for generating flight paths for navigating an aircraft |
US11300959B2 (en) * | 2019-08-30 | 2022-04-12 | Huawei Technologies Co., Ltd. | System and method for predictive path planning in autonomous vehicles |
CN112783169B (zh) * | 2020-12-31 | 2022-11-01 | 科大讯飞(苏州)科技有限公司 | 一种路径规划方法、设备及计算机可读存储介质 |
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Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109341707A (zh) * | 2018-12-03 | 2019-02-15 | 南开大学 | 未知环境下移动机器人三维地图构建方法 |
CN110221614A (zh) * | 2019-06-14 | 2019-09-10 | 福州大学 | 一种基于快速探索随机树的多机器人地图探索方法 |
CN113238554A (zh) * | 2021-05-08 | 2021-08-10 | 武汉科技大学 | 一种基于激光与视觉融合slam技术的室内导航方法及系统 |
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Effective date of registration: 20231220 Address after: Room 4X-139, No. 96 Sanhao Street, Heping District, Shenyang City, Liaoning Province, 110057 Patentee after: Shenyang Ruige Holdings Co.,Ltd. Address before: No.11, Wenhua Road, Sanxiang, Heping District, Shenyang City, Liaoning Province Patentee before: Fang Zheng Patentee before: Shenyang Ruige Holdings Co.,Ltd. Effective date of registration: 20231220 Address after: No.11, Wenhua Road, Sanxiang, Heping District, Shenyang City, Liaoning Province Patentee after: Fang Zheng Patentee after: Shenyang Ruige Holdings Co.,Ltd. Address before: 110819 No. 3 lane, Heping Road, Heping District, Shenyang, Liaoning 11 Patentee before: Northeastern University |
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Effective date of registration: 20240110 Address after: No. 94-2 Sanhao Street, Heping District, Shenyang City, Liaoning Province, 110057 (3008) Patentee after: Ruige Intelligent Technology (Shenyang) Co.,Ltd. Address before: Room 4X-139, No. 96 Sanhao Street, Heping District, Shenyang City, Liaoning Province, 110057 Patentee before: Shenyang Ruige Holdings Co.,Ltd. |