CN117948984A - Path planning method of mobile operation robot in variable width traffic domain - Google Patents
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Abstract
The invention discloses a path planning method of a mobile operation robot in a variable width traffic domain, which comprises the following steps: acquiring a real-time perception map and obstacle outline information; forming a local passable domain in the real-time perception map according to the outline information of the obstacle, and merging the passable domain into the prior map; introducing different expansion parameters for passable domains with different widths, and planning a reference path for the prior map according to the expanded passable domains; constraint processing is carried out on the reference path according to the outline information of the obstacle and the passable domain, and navigation auxiliary points of the width-limited channel are generated; and intercepting and re-planning the reference path according to the navigation auxiliary points in sequence, smoothing the connection and dynamically adjusting the reference path. According to the method, the identification partition processing is carried out on the areas with different widths, different expansion parameters are introduced into the passable areas with different widths, navigation auxiliary points are provided for entering the areas with limited widths, and the passing safety of the robot in the narrow area is ensured.
Description
Technical Field
The invention relates to the technical field of path planning of mobile operation robots, in particular to a path planning method of a mobile operation robot in a variable width traffic domain.
Background
The path planning algorithm plays an important role in intelligent robot movement operation, and performs feasible path search based on map information of the environment where the robot is located, barrier information, robot kinematics constraint and the like, so as to provide autonomous movement process points for the robot. The path planning algorithm is an important reference for robot movement and obstacle avoidance, and is a key support technology for various automatic movement operations. In the technical field of mobile robots, a fixed or uniform expansion coefficient is the most common technical scheme, the scheme is firstly based on SLAM (Simultaneous Localization AND MAPPING, positioning and map construction simultaneously) to dynamically construct an environment map, the environment map is statically expanded, global reference path searching is carried out for an expanded feasible section, then the robot tracks along a reference path, in the tracking process, the robot detects surrounding obstacles in real time, the obstacles are dynamically expanded, and the expanded feasible region can be re-planned according to the intercepted local target points.
However, most of the existing robot obstacle avoidance schemes do not distinguish the widths of different roads in a global map during global path planning, and do not consider the problem of distance between obstacles, so that a channel which can be just passed by a robot is blocked due to a narrow channel of an excessively expanded part, so that planning fails and conservative expansion is caused, or the robot is found to be unable to pass after tracking on site. Meanwhile, due to the lack of road width recognition, the problems that turning planning is performed in a stricture area, and a clamping phenomenon is easy to occur after actual tracking occur can occur.
Disclosure of Invention
Aiming at the problems, the invention provides a path planning method of a mobile operation robot in a variable width traffic domain, which mainly solves the problem that the prior art lacks road width identification.
In order to solve the technical problems, the invention provides a path planning method of a mobile operation robot in a variable width traffic domain, comprising the following steps:
s1, acquiring a real-time perception map and obstacle outline information;
S2, forming a local passable domain in the real-time perception map according to the obstacle profile information, wherein the passable domain is combined into a priori map;
S3, introducing different expansion parameters for the passable domains with different widths, and planning a reference path for the prior map according to the expanded passable domains;
S4, carrying out constraint processing on the reference path according to the obstacle contour information and the passable domain, and generating a navigation auxiliary point of the width-limited channel;
s5, intercepting and re-planning the reference path according to the navigation auxiliary points in sequence, connecting smoothly, and dynamically adjusting the reference path.
In some embodiments, in S1, a sensor carried by the robot scans the environment boundary, obtains the real-time perception map, and defines the detected obstacle edge as the obstacle profile information.
In some embodiments, in S2, the edges of the obstacle not detected by the sensor are directly connected to the edges of the real-time perception map to form the local passable domain.
In some embodiments, S2 comprises:
s201, preprocessing the acquired real-time perception map and the obstacle outline information, and then extracting boundary coordinates of the passable domain from the real-time perception map;
S202, expanding the periphery of the boundary coordinate, recording the expansion radius as R, judging that the road width of the passable domain is smaller than 2*R if the boundary of the passable domain has a communication state after expansion, extracting the corner point of the passable domain, and defining the corner point as a road width demarcation point;
S203, searching intersection lines of the road width demarcation points intersecting with the map boundary of the real-time perception map in all directions, and taking the intersection line with the smallest distance as a width demarcation line of the passable domain, wherein the length of the width demarcation line is defined as the channel width;
S204, expanding the obstacle in the passable domain to generate an expansion auxiliary graph, dividing the passable domain according to the width dividing line and the channel width to generate a division graph, intersecting the division graph with the expansion auxiliary graph to obtain a wide area graph, subtracting the passable domain from the wide area graph to obtain a narrow area graph, performing image corrosion and edge smoothing on the narrow area graph to obtain an updated wide area graph, and merging the updated wide area graph into the prior map.
In some embodiments, S3 comprises:
S301, crossing the passable domain with the wide area diagram and the narrow area diagram to obtain a wide area channel and a narrow area channel, and expanding the wide area channel by adopting a first radius or expanding the narrow area channel by adopting a second radius to obtain a corresponding expansion key diagram, wherein the passable domain is subtracted from the expansion key diagram to obtain a variable expansion passable domain;
s302, generating the reference path for the prior map according to the variable expansion passable domain.
In some embodiments, S4 comprises:
s401, tracking the robot along the reference path, and periodically acquiring the current pose point of the robot;
s402, generating a dynamic layer passable domain according to the obstacle contour information, and repeating the step S202 by taking the dynamic layer passable domain as input to obtain a dynamic layer road width demarcation point;
s403, based on the dynamic layer road width demarcation point, obtaining a neighborhood feasible region by perpendicular to the width demarcation line of the dynamic layer passable region, and searching a narrow region transition point in the neighborhood feasible region;
S404, taking a robot as a geometric center, intercepting equilateral rectangular or circular dynamic barrier information as a local dynamic region, and taking an intersection point of the reference path and the local dynamic region as a local target point;
And S405, merging the current pose point, the narrow-area transition point and the local target point into the navigation auxiliary point.
In some embodiments, S5 comprises:
S501, intersecting the reference path with the local dynamic region, and intercepting the intersecting path of the reference path and the local dynamic region for re-planning;
S502, planning a path of the robot according to a plurality of navigation auxiliary points, merging the paths section by section according to the sequence of the path, smoothing the path by adopting a smoothing algorithm, and finally accessing the path to the original reference path.
The beneficial effects of the invention are as follows: by identifying and partitioning the areas with different widths in the real-time perception map and introducing different expansion parameters for the passable areas with different widths, a generation strategy of navigation auxiliary points is provided for entering the limited-width area, and the safety of the robot passing planning in the narrow area is effectively ensured.
Drawings
Fig. 1 is a flow chart of a path planning method of a mobile operation robot in a variable width traffic domain according to an embodiment of the present invention;
fig. 2 is a schematic diagram of an extraction result of an obstacle profile according to an embodiment of the present invention;
FIG. 3a is a schematic diagram of an extraction result of a road width demarcation point according to an embodiment of the present invention;
fig. 3b is a schematic diagram of an extraction result of a passable domain according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a creation process of a narrow passable domain image according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of the construction result of a variable expansion passable domain according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a reference path according to an embodiment of the present invention;
Fig. 7 is a schematic diagram of a current pose point of a robot according to an embodiment of the present invention;
FIG. 8 is a schematic diagram illustrating the extraction of dynamic layer narrow-band boundary points according to an embodiment of the present invention;
FIG. 9 is a schematic diagram of extraction results of a feasible region auxiliary point and a local target point according to an embodiment of the present invention;
fig. 10 is a schematic diagram of an updated reference path according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and the detailed description below, in order to make the objects, technical solutions and advantages of the present invention more clear and distinct. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the matters related to the present invention are shown in the accompanying drawings.
The embodiment provides a path planning method of a mobile operation robot in a variable width traffic domain, which carries out identification partition processing on different width regions in a real-time perception map, introduces different expansion parameters for the traffic domains with different widths, and simultaneously provides a generation strategy of navigation auxiliary points for entering a limited width region, thereby effectively guaranteeing the traffic planning safety of the robot in a narrow region. The path planning algorithm has the advantages of high robustness and strong adaptability, has no specific requirement on the hardware of a robot system, and can be effectively applied to the application field of mobile robot inspection or operation of indoor and outdoor mobile robots in the scenes of long and narrow channels, gates, temporary road occupation, multi-vehicle intersection and the like.
As shown in fig. 1, the method comprises the following steps:
S1, acquiring a real-time perception map and obstacle contour information.
In S1, a sensor mounted on the robot scans an environment boundary to obtain a real-time sensing map, and defines a detected obstacle edge as obstacle contour information. The sensing module of the robot for identifying the obstacle in the environment is not limited to a laser radar, a camera and ultrasonic waves, and is used for processing sensor data to obtain a real-time map and obstacle contour information.
Taking lidar as an example, since laser spot data is not obtained instantaneously and laser measurement is accompanied by movement of the robot and the movement of the robot is not negligible when the laser frame rate is low, it is necessary to perform movement correction for the lidar data.
The step of removing the laser radar motion distortion is to obtain the time and ranging of a first laser point and the speed of a robot, as shown in fig. 2, assuming that a micro time interval between two laser points of a robot (triangle in fig. 2) is uniform motion, obtaining the ranging of the next laser point, and obtaining the real ranging of the laser point in a robot coordinate system by calculating the moving position of the robot at the micro time interval and overlapping ranging information, thereby realizing the purpose of converting the laser radar coordinates corresponding to each laser point of one frame of laser radar data to a robot odometer at different moments and achieving the aim of removing the distortion as far as possible.
Then, according to the positions of the sensors mounted on the robot, a conversion matrix P of each sensor relative to a robot base coordinate system can be obtained, according to the planning requirement of the robot, a rectangular range of an origin NxN of the robot base coordinate system is intercepted to be used as a real-time obstacle perception map, if the rectangular range is a point cloud picture, horizontal plane projection can be carried out by intercepting point clouds of a height section of the robot, and according to the origin of the sensor coordinate system, nearest distance points are screened one by one according to the original horizontal resolution of the sensor, so that the outline of the nearest obstacle point is obtained. If the data is ultrasonic data, a group of arc point clouds are generated according to a conversion matrix of the sensor and the robot and combining beam angles set by ultrasonic waves and obstacle distance information fed back by detection, so that the outline of the obstacle is obtained. The undetected edges are directly connected with the edges of the NxN real-time obstacle map to form a local passable domain map.
S2, forming a local passable domain in the real-time perception map according to the outline information of the obstacle, and merging the passable domain into the prior map.
In S2, the edges of the obstacles not detected by the sensor are directly connected with the edges of the real-time sensing map to form a local passable domain, and the specific detection method refers to S1.
In one example, S2 includes:
S201, preprocessing the acquired real-time perception map and obstacle outline information, and then extracting boundary coordinates of a passable domain from the real-time perception map; in the step, operations such as image binarization, filtering, edge corrosion and the like are needed to be carried out on the real-time perceived map and the obstacle outline information, so that the effects of removing map noise points, smoothing map boundaries, eliminating isolated obstacles in the map and the like can be achieved, and then boundary coordinates of a passable area are extracted from the real-time perceived map to form a map of a robot passable area.
S202, expanding the periphery of the boundary coordinates, recording the expansion radius as R, judging that the road width of the passable domain is smaller than 2*R if the boundary of the passable domain is in a communication state after expansion, extracting corner points of the passable domain, defining the corner points as road width demarcation points, and if the boundary of the passable domain is in an overlapping state as shown in fig. 3a, dividing the original passable domain after expansion, wherein the two passable domains A and B shown in fig. 3B just overlap and belong to the division.
S203, searching intersection lines of road width demarcation points intersecting with map boundaries of the real-time perception map in all directions, and taking the intersection line with the smallest distance as a width demarcation line of a passable domain, wherein the length of the width demarcation line is defined as the channel width;
S204, as shown in FIG. 4, expanding an obstacle in a passable domain (original image) img_orig to generate an expansion auxiliary image img_ inflation, dividing the passable domain according to a width dividing line and a channel width to generate a division image, intersecting the division image with the expansion auxiliary image img_ inflation to obtain a wide area image img_wide, subtracting the passable domain from the wide area image img_wide to obtain a narrow area image img_narrow, performing image corrosion and edge smoothing on the narrow area image img_narrow to obtain an updated wide area image, and merging the updated wide area image into a priori map. Through the operation, the burr or hollowed wide area graph possibly appears, and the complete wide area graph can be obtained through image corrosion and edge smoothing, so that the influence of noise during partial road width change and acquisition is reduced.
And S3, introducing different expansion parameters for passable domains with different widths, and planning a reference path for the prior map according to the expanded passable domains.
In one example, S3 includes:
S301, crossing the passable domain img_orig with a wide area diagram img_wide and a narrow area diagram img_narrow respectively to obtain a wide area channel and a narrow area channel, expanding the wide area channel with a first radius Rf_wide or expanding the narrow area channel with a second radius Rf_narrow to obtain a corresponding expansion key diagram, and subtracting the passable domain from the expansion key diagram to obtain a variable expansion passable domain. After step S301, a variable expansion passable domain of gradually changing width can be obtained, as shown in particular by the hatched portion of fig. 5.
S302, generating a reference path for the prior map according to the variable expansion passable domain. In S302, according to the aforementioned passable domain after expansion, since the map representation is in the form of an occupied grid, when the application layer gives a start point and an end point, a heuristic search algorithm may be used to search for a feasible path. The heuristic search is to establish a heuristic search rule in the search process, so as to measure the distance relation between the real-time search position and the target position, and the search direction is preferentially oriented to the direction of the position of the target point, and finally the effect of improving the search efficiency is achieved. As shown in fig. 6, the upper part of fig. 6 is a comparison of the path search results of the fixed expansion boundary passable domain and the variable expansion passable domain, the upper graph cannot search the passable route, and the lower part of fig. 6 can search the passable route.
The basic idea of the a algorithm is as follows: introducing an estimation function f (x) of the current node x, wherein the estimation function of the current node x is defined as: f (x) =g (x) +h (x), where g (x) is the actual distance measure from the starting point to the current node x (the distance between two points can be used instead in the code); h (x) is the minimum distance estimate from node x to the endpoint, and the form of h (x) may be chosen from Euclidean distance or Manhattan distance. The basic implementation process of the algorithm is as follows: calculating the f value of each child node from the starting point, selecting the child node with the smallest f value from the f values as the next point of searching, and iterating repeatedly until the next child node is the target point. The path search algorithm is not limited to the a algorithm, and only one example of technical implementation is provided above.
S4, carrying out constraint processing on the reference path according to the obstacle contour information and the passable domain, and generating a navigation auxiliary point of the width-limited channel.
In one example, S4 includes:
S401, as shown in FIG. 7, the robot tracks along a reference path, and the current pose point (point E shown in FIG. 9) of the robot is obtained periodically;
S402, as shown in FIG. 8, generating a dynamic layer passable domain according to the obstacle outline information, and repeating the step S202 by taking the dynamic layer passable domain as input to obtain a dynamic layer road width demarcation point;
S403, based on the dynamic layer road width demarcation point, the width demarcation line of the passable domain of the vertical dynamic layer obtains a neighborhood feasible domain, searches a narrow-area transition point (point B\D shown in fig. 9) in the neighborhood feasible domain, sets a distance demarcation point L as a threshold value for adjusting in order to ensure the planning cut-in smoothness of the subsequent path, and can respectively search a feasible domain auxiliary point of the distance L in two vertical directions.
S404, taking the robot as a geometric center, intercepting the equilateral rectangular or circular dynamic barrier information as a local dynamic region, and taking the intersection point of the reference path and the local dynamic region as a local target point (point A shown in fig. 9).
S405, combining the current pose point, the narrow-area transition point and the local target point into a navigation auxiliary point.
S5, intercepting and re-planning the reference path according to the navigation auxiliary points in sequence, connecting smoothly and dynamically adjusting the reference path.
In one example, S5 includes:
s501, intersecting the reference path with the local dynamic region, and intercepting the intersecting path of the reference path and the local dynamic region for re-planning.
S502, planning a path of the robot according to a plurality of navigation auxiliary points, merging the paths section by section according to the sequence of the path, smoothing the path by adopting a smoothing algorithm, and finally accessing the path to an original reference path. As shown in fig. 10, a point A, B, D, E is obtained based on S4, and is planned one by one with the sequence of the current position point E of the robot, the auxiliary point D closer to the current point of the robot, the auxiliary point B farther from the current point of the robot, and the local target point a as a starting point-end point, and smoothed by a smoothing algorithm (such as a method of sliding average smoothing, spline curve smoothing, etc.). And respectively combining the three paths, and accessing the paths to the original reference path to realize dynamic adjustment of the paths.
The above embodiments are only for illustrating the technical concept and features of the present invention, and are intended to enable those skilled in the art to understand the content of the present invention and implement the same, and are not intended to limit the scope of the present invention. All equivalent changes or modifications made in accordance with the essence of the present invention are intended to be included within the scope of the present invention.
Claims (7)
1. A path planning method of a mobile working robot in a variable width traffic domain is characterized by comprising the following steps:
s1, acquiring a real-time perception map and obstacle outline information;
S2, forming a local passable domain in the real-time perception map according to the obstacle profile information, wherein the passable domain is combined into a priori map;
S3, introducing different expansion parameters for the passable domains with different widths, and planning a reference path for the prior map according to the expanded passable domains;
S4, carrying out constraint processing on the reference path according to the obstacle contour information and the passable domain, and generating a navigation auxiliary point of the width-limited channel;
s5, intercepting and re-planning the reference path according to the navigation auxiliary points in sequence, connecting smoothly, and dynamically adjusting the reference path.
2. The path planning method in a variable width traffic zone of a mobile working robot according to claim 1, wherein in S1, a sensor mounted on the robot scans an environment boundary to obtain the real-time perceived map, and defines a detected obstacle edge as the obstacle profile information.
3. The path planning method of a mobile working robot in a variable width traffic domain according to claim 2, wherein in S2, the edge of the obstacle not detected by the sensor is directly connected with the edge of the real-time perception map to form a local traffic domain.
4. The path planning method of a mobile working robot in a variable width traffic domain according to claim 1, wherein S2 comprises:
s201, preprocessing the acquired real-time perception map and the obstacle outline information, and then extracting boundary coordinates of the passable domain from the real-time perception map;
S202, expanding the periphery of the boundary coordinate, recording the expansion radius as R, judging that the road width of the passable domain is smaller than 2*R if the boundary of the passable domain has a communication state after expansion, extracting the corner point of the passable domain, and defining the corner point as a road width demarcation point;
S203, searching intersection lines of the road width demarcation points intersecting with the map boundary of the real-time perception map in all directions, and taking the intersection line with the smallest distance as a width demarcation line of the passable domain, wherein the length of the width demarcation line is defined as the channel width;
S204, expanding the obstacle in the passable domain to generate an expansion auxiliary graph, dividing the passable domain according to the width dividing line and the channel width to generate a division graph, intersecting the division graph with the expansion auxiliary graph to obtain a wide area graph, subtracting the passable domain from the wide area graph to obtain a narrow area graph, performing image corrosion and edge smoothing on the narrow area graph to obtain an updated wide area graph, and merging the updated wide area graph into the prior map.
5. The path planning method in a variable width traffic domain for a mobile working robot according to claim 4, wherein S3 comprises:
S301, crossing the passable domain with the wide area diagram and the narrow area diagram to obtain a wide area channel and a narrow area channel, and expanding the wide area channel by adopting a first radius or expanding the narrow area channel by adopting a second radius to obtain a corresponding expansion key diagram, wherein the passable domain is subtracted from the expansion key diagram to obtain a variable expansion passable domain;
s302, generating the reference path for the prior map according to the variable expansion passable domain.
6. The path planning method in a variable width traffic domain for a mobile working robot according to claim 5, wherein S4 comprises:
s401, tracking the robot along the reference path, and periodically acquiring the current pose point of the robot;
s402, generating a dynamic layer passable domain according to the obstacle contour information, and repeating the step S202 by taking the dynamic layer passable domain as input to obtain a dynamic layer road width demarcation point;
s403, based on the dynamic layer road width demarcation point, obtaining a neighborhood feasible region by perpendicular to the width demarcation line of the dynamic layer passable region, and searching a narrow region transition point in the neighborhood feasible region;
S404, taking a robot as a geometric center, intercepting equilateral rectangular or circular dynamic barrier information as a local dynamic region, and taking an intersection point of the reference path and the local dynamic region as a local target point;
And S405, merging the current pose point, the narrow-area transition point and the local target point into the navigation auxiliary point.
7. The path planning method in a variable width traffic domain for a mobile working robot according to claim 6, wherein S5 comprises:
S501, intersecting the reference path with the local dynamic region, and intercepting the intersecting path of the reference path and the local dynamic region for re-planning;
S502, planning a path of the robot according to a plurality of navigation auxiliary points, merging the paths section by section according to the sequence of the path, smoothing the path by adopting a smoothing algorithm, and finally accessing the path to the original reference path.
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