CN107015563A - Method for planning path for mobile robot and device - Google Patents
Method for planning path for mobile robot and device Download PDFInfo
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Abstract
The present invention provides a kind of method for planning path for mobile robot and device, including：Obtain current location point, source location and the barrier region information of mobile robot；Local window is generated according to current location point；Determine that source location is not located in local window, sub-objective location point is obtained according to obtained location point and planning formula；The local path and record between location point are obtained according to obtained location point and route searching formula；It is source location to determine sub-objective location point, is shown after local path is smoothed.The present invention proposes a kind of method for planning path for mobile robot and device, the process of localized target is found in multiple local windows by the way that Artificial Potential Field path planning is decomposed into, and when the distance of mobile robot and target is close, the effect of repulsion can be weakened using route searching formula, mobile robot is set to reach target point, simultaneously when away from target, mobile robot is set to be difficult to be absorbed in local minimum point.
Description
Technical field
The present invention relates to mobile robot path planning technical field, more particularly to a kind of adaptive Artificial Potential Field is with rolling
Method for planning path for mobile robot and device that window is combined.
Background technology
Current path planning problem is always the study hotspot of robot navigation and avoidance.The target of path planning is to find
One collision-free motion track from source location set to source location.
The path planning of mobile robot can be divided into global path planning and local paths planning.Global path planning is
On the basis of setting up known to the working environment in robot, it is unknown that local paths planning is applied to mobile work robot environment
Or the known application scenarios in part.
Current Artificial Potential Field Method is a kind of conventional mobile robot local paths planning method.Artificial Potential Field Method is by target
Repulsion composition around gravitational field and barrier around location point.Gravitational field, which produces gravitation, makes robot towards before target
Enter, repulsion, which produces repulsion, makes robot in moving process away from barrier, conjunction of the mobile robot towards gravitation and repulsion
Force direction is moved.
Although Artificial Potential Field Method expression-form is simple, easy to use efficient, there is also some defects simultaneously：1) easily fall into
Local minimum point；2) it can not pass through in narrow zone；3) oscillated about in barrier；4) shaken when by narrow zone；5) mesh
When having barrier near punctuate, it is impossible to reach target point.For there is the problem of barrier can not reach target point near target point,
At present it is also proposed that a kind of improved repulsion field function solves this problem.But it is attached that although this improved method solves target point
It is near to have the problem of barrier reach target point, but cause path to be more easily trapped into local minimum point in some cases,
And make the path of planning longer.
The content of the invention
The present invention provides a kind of method for planning path for mobile robot and device, for solving to move machine in the prior art
The irrational problem of people path specification.
In a first aspect, the present invention provides a kind of method for planning path for mobile robot, including：
S11, current location point, source location and the barrier region information for obtaining mobile robot；
S12, according to the current location point generate local window, the local window be using the current location point to be round
The heart, using preset length as the region of radius；
S13, judge the source location whether be located at the local window in, obtain the first judged result；
It is public according to the current location point, source location and default planning if S14, the first judged result are no
Formula obtains sub-objective location point；
S15, obtained according to the current location point, sub-objective location point and default route searching formula it is described ought
Local path and record of the front position point to the sub-objective location point；
S16, judge whether the sub-objective location point is source location, obtain the second judged result；
If S17, the second judged result are yes, shown after the local path of acquisition is smoothed.
Alternatively, in addition to：If the first judged result is yes, according to the current location point, source location and pre-
If route searching formula obtain the current location point to the global path and record of source location, and by the global road
Footpath is shown after being smoothed.
Alternatively, in addition to：If the second judged result is no, using the sub-objective location point that currently obtains as
Next current location point, continues executing with above-mentioned steps S12-S16.
Alternatively, it is described that local specific item is obtained according to the current location point, source location and default planning formula
Cursor position point, including：
The m location point of equidistant selection on the circumference of the local window；
The location point not intersected with barrier region is filtered out from m location point；
The correspondence of the location point each filtered out is obtained according to current location point, source location and default planning formula
Cost value, elects the minimum location point of cost value as sub-objective location point；
Wherein, the planning formula is：
H (n) is the cost value for the location point chosen, (xr,yr) be current location point coordinate, (xg,yg) it is target location
The coordinate of point, n is the nth position point in m location point, and r is the radius of local window.
Alternatively, it is described to be obtained according to the current location point, sub-objective location point and default route searching formula
The current location point is obtained to the local path of the sub-objective location point, including：
Calculated according to the current location point, sub-objective location point and default route searching formula and obtain moving machine
The moving direction of device people；
Local path is obtained according to the moving direction and default step-length and default step-length number of times；
Wherein, the route searching formula is：
Fatt(q)=η ρg；
Ftotal=Fatt(q)+Frep(q)=Fatt(q)nRG+Frep1(q)nOR+Frep2(q)nRG；
Wherein,
Fatt(q) it is gravitation, Frep(q) it is repulsion, FtotalTo make a concerted effort, nORTo point to current location point along barrier
Direction, nRGTo point to the direction of source location along robot, η is gravitational field gain coefficient, ρgFor current location point to mesh
The distance of cursor position point, ρbFor the distance of current location point to barrier, k is repulsion gain coefficient, a ＞ 0, for default system
Number, ρ0For predetermined threshold value, Frep1(q) it is the repulsion in the direction that current location point is pointed to along barrier, Frep2(q) it is along machine
Device people points to the repulsion in the direction of source location.
Second aspect, the present invention provides a kind of mobile robot path planning device, including：
Acquisition module, current location point, source location and barrier region information for obtaining mobile robot；
Generation module, for generating local window according to the current location point, the local window is with described current
Location point is the center of circle, using preset length as the region of radius；
First judge module, for judging whether the source location is located in the local window, obtains first and sentences
Disconnected result；
Planning module, for being no when the first judged result, according to the current location point, source location and default
Plan that formula obtains sub-objective location point；
Search module, for according to the current location point, sub-objective location point and default route searching formula
The current location point is obtained to the local path and record of the sub-objective location point；
Second judge module, for judging whether the sub-objective location point is source location, obtains second and sentences
Disconnected result；
Performing module, for being yes when the second judged result, shows after the local path of acquisition is smoothed
Show.
Alternatively, the performing module is additionally operable to：When the first judged result is yes, according to the current location point, target
Location point and default route searching formula obtain the current location point to the global path and record of source location, and will
The global path is shown after being smoothed.
Alternatively, the performing module is additionally operable to：When the second judged result is no, by the local specific item currently obtained
Cursor position point is next current location point, and next current location point is sent to the generation module.
Alternatively, the planning module specifically for：
The m location point of equidistant selection on the circumference of the local window；
The location point not intersected with barrier region is filtered out from m location point；
The correspondence of the location point each filtered out is obtained according to current location point, source location and default planning formula
Cost value, elects the minimum location point of cost value as sub-objective location point；
Wherein, the planning formula is：
H (n) is the cost value for the location point chosen, (xr,yr) be current location point coordinate, (xg,yg) it is target location
The coordinate of point, n is the nth position point in m location point, and r is the radius of local window.
Alternatively, the search module specifically for：
Calculated according to the current location point, sub-objective location point and default route searching formula and obtain moving machine
The moving direction of device people；
Local path is obtained according to the moving direction and default step-length and default step-length number of times；
Wherein, the route searching formula is：
Fatt(q)=η ρg；
Ftotal=Fatt(q)+Frep(q)=Fatt(q)nRG+Frep1(q)nOR+Frep2(q)nRG；
Wherein,
Fatt(q) it is gravitation, Frep(q) it is repulsion, FtotalTo make a concerted effort, nORTo point to current location point along barrier
Direction, nRGTo point to the direction of source location along robot, η is gravitational field gain coefficient, ρgFor current location point to mesh
The distance of cursor position point, ρbFor the distance of current location point to barrier, k is repulsion gain coefficient, a ＞ 0, for default system
Number, ρ0For predetermined threshold value, Frep1(q) it is the repulsion in the direction that current location point is pointed to along barrier, Frep2(q) it is along machine
Device people points to the repulsion in the direction of source location.
As shown from the above technical solution, the embodiment of the present invention proposes a kind of method for planning path for mobile robot and device,
The process of localized target is found in multiple local windows by the way that Artificial Potential Field path planning is decomposed into, and in mobile robot
With the distance of target it is close when, the effect of repulsion can be weakened using route searching formula, mobile robot is reached target point,
Simultaneously when away from target, make mobile robot be difficult to be absorbed in local minimum point, complete rational path planning.
Brief description of the drawings
Fig. 1 is the schematic flow sheet for the method for planning path for mobile robot that the embodiment of the present invention 1 is provided；
Fig. 2 is the schematic flow sheet of the obtaining step of sub-objective location point provided in an embodiment of the present invention；
Fig. 3 is the scene schematic diagram of the obtaining step of sub-objective location point provided in an embodiment of the present invention；
Fig. 4 is the scene schematic diagram that path smooth provided in an embodiment of the present invention is handled；
Fig. 5 is the schematic flow sheet that path smooth provided in an embodiment of the present invention is handled；
Fig. 6 is the entire flow schematic diagram for the method for planning path for mobile robot that the embodiment of the present invention 1 is provided；
Fig. 7 is the structural representation for the mobile robot path planning device that the embodiment of the present invention 2 is provided.
Embodiment
With reference to the accompanying drawings and examples, the embodiment to the present invention is described in further detail.Implement below
Example is used to illustrate the present invention, but is not limited to the scope of the present invention.
Fig. 1 and Fig. 6 show that the embodiment of the present invention 1 provides a kind of method for planning path for mobile robot, including：
S11, current location point, source location and the barrier region information for obtaining mobile robot.
In this step, it is necessary to which explanation, the current location point can both refer to position when mobile robot opens mobile
Point, can also refer to the other positions point of the appearance during path planning.The source location is that mobile robot receives shifting
The location point to be reached after dynamic instruction.The barrier region information can refer to the barrier that mobile robot runs into during path planning
Hinder region occupied by thing.
S12, according to the current location point generate local window, the local window be using the current location point to be round
The heart, using preset length as the region of radius.
S13, judge the source location whether be located at the local window in, obtain the first judged result.
It is public according to the current location point, source location and default planning if S14, the first judged result are no
Formula obtains sub-objective location point.
In this step, it is necessary to which explanation, when source location is not located in local window, can be explained mobile robot
Source location can not be reached in finite region.Therefore system need to be according to current location point, source location and default planning
Formula obtains sub-objective location point.The sub-objective location point is that mobile robot reaches the path of source location
The location point of middle process.
As shown in Fig. 2 the step of following sub-objective location point to acquisition is explained：
S141, the m location point of equidistant selection on the circumference of the local window；
S142, the location point not intersected with barrier region is filtered out from m location point；
S143, the location point each filtered out according to the acquisition of current location point, source location and default planning formula
Corresponding cost value, elect the minimum location point of cost value as sub-objective location point；
Wherein, the planning formula is：
H (n) is the cost value for the location point chosen, (xr,yr) be current location point coordinate, (xg,yg) it is target location
The coordinate of point, n is the nth position point in m location point, and r is the radius of local window.
Above-mentioned steps are explained with instantiation：
As shown in figure 3, using current location point A as the center of circle, using length R as radius formation zone window.In the regional window
Circumference on it is equidistant selection 8 location points, respectively 1,2,3,4,5,6,7,8.It can be seen that location point 3 and 4 with
Barrier region intersects, therefore obtains 1,2,5,6,7,8 according only to current location point A, source location B and default planning formula
The corresponding cost value of location point.It is sub-objective position that the location point corresponding to minimum cost value is chosen from these cost values
Point.
S15, obtained according to the current location point, sub-objective location point and default route searching formula it is described ought
Local path and record of the front position point to the sub-objective location point.
In this step, it is necessary to which explanation, because above-mentioned steps obtain sub-objective location point, therefore first has to calculate
Current location point is to the path of sub-objective location point.
In embodiments of the present invention, first according to the current location point, sub-objective location point and default path
Search for formula and calculate the moving direction for obtaining mobile robot；Further according to the moving direction and default step-length and default step-length time
Number obtains local path.
The route searching formula is：
Fatt(q)=η ρg；
Ftotal=Fatt(q)+Frep(q)=Fatt(q)nRG+Frep1(q)nOR+Frep2(q)nRG；
Wherein,
Fatt(q) it is gravitation, Frep(q) it is repulsion, FtotalTo make a concerted effort, nORTo point to current location point along barrier
Direction, nRGTo point to the direction of source location along robot, η is gravitational field gain coefficient, ρgFor current location point to mesh
The distance of cursor position point, ρbFor the distance of current location point to barrier, k is repulsion gain coefficient, a ＞ 0, for default system
Number, ρ0For predetermined threshold value, Frep1(q) it is the repulsion in the direction that current location point is pointed to along barrier, Frep2(q) it is along machine
Device people points to the repulsion in the direction of source location.
The a it can be seen from above-mentioned function formula>0, when mobile robot is away from target, ρg→ ∞,ThereforeIt now may be such that the path planned a long way off is short and is difficult to be absorbed in local minimum point.When mobile robot is close to mesh
Timestamp,ThereforeNow ensure that mobile robot can reach target point.Therefore, above-mentioned formula is both protected
The characteristic for not changing Artificial Potential Field algorithm when away from target has been demonstrate,proved, can have been solved again when target proximity has barrier, mesh
Mark inaccessible problem.
S16, judge whether the sub-objective location point is source location, obtain the second judged result.
If S17, the second judged result are yes, shown after the local path of acquisition is smoothed.
In this step, it is necessary to explanation, when sub-objective location point is source location, system is by the office of acquisition
Portion path is shown after being smoothed.
When sub-objective location point is not source location, the local specific item that system may proceed to currently obtain
Cursor position point is next current location point, continues executing with above-mentioned steps S12-S16, until obtained local location point is target
Untill location point, multiple local paths can be now got, multiple local paths are combined and shown after being smoothed, so that
Mobile robot is moved according to the path after smoothing processing, reaches the purpose of avoiding obstacles.
It should also be noted that, when source location be located at regional window in, now system according to the current location point,
Source location and default route searching formula obtain the current location point to the global path and record of source location,
And shown after the global path is smoothed, mobile robot is moved according to the path after smoothing processing,
Reach the purpose of avoiding obstacles.
The smoothing processing to path is explained below：
As shown in Figure 4 and Figure 5, the path of acquisition is made up of a series of path point, P0It is the starting point (Start) in path, Pn
It is the terminal (Goal) in path, in order that path smooth and as short as possible, with P0For starting point, it is connected with other path points, directly
Intersect to line with barrier (Obstacle), such as P0Pt+1, then take PtFor a turning point in path and new starting point, to
After continue line, untill reaching target point, then obtained path point will be connected and carried out curve fitting and obtain one
Smooth path.It is flat in path in order to not collided when ensureing that mobile robot is advanced along the path after smoothing processing with barrier
Expansion process first is carried out to barrier before sliding processing, it is ensured that d is expansion radius in the security in path, figure.
The embodiment of the present invention 1 proposes a kind of method for planning path for mobile robot, by the way that Artificial Potential Field path planning is divided
Solve to find the process of localized target in multiple local windows, and when the distance of mobile robot and target is close, utilize
Route searching formula can weaken the effect of repulsion, mobile robot is reached target point, while when away from target, making movement
Robot is difficult to be absorbed in local minimum point, completes rational path planning.
Fig. 7 shows a kind of mobile robot path planning device that the embodiment of the present invention 2 is provided, including acquisition module
21st, generation module 22, the first judge module 23, planning module 24, search module 25, the second judge module 26 and performing module
27, wherein：
Acquisition module, current location point, source location and barrier region information for obtaining mobile robot；
Generation module, for generating local window according to the current location point, the local window is with described current
Location point is the center of circle, using preset length as the region of radius；
First judge module, for judging whether the source location is located in the local window, obtains first and sentences
Disconnected result；
Planning module, for being no when the first judged result, according to the current location point, source location and default
Plan that formula obtains sub-objective location point；
Search module, for according to the current location point, sub-objective location point and default route searching formula
The current location point is obtained to the local path and record of the sub-objective location point；
Second judge module, for judging whether the sub-objective location point is source location, obtains second and sentences
Disconnected result；
Performing module, for being yes when the second judged result, shows after the local path of acquisition is smoothed
Show.
Because the described device of the embodiment of the present invention 2 is identical with the principle of above-described embodiment methods described, in further detail
Explanation content will not be repeated here.
It should be noted that can be by hardware processor (hardware processor) come real in the embodiment of the present invention
Existing related function module.
The embodiment of the present invention 2 proposes a kind of mobile robot path planning device, by the way that Artificial Potential Field path planning is divided
Solve to find the process of localized target in multiple local windows, and when the distance of mobile robot and target is close, utilize
Route searching formula can weaken the effect of repulsion, mobile robot is reached target point, while when away from target, making movement
Robot is difficult to be absorbed in local minimum point, completes rational path planning.
Although in addition, it will be appreciated by those of skill in the art that some embodiments described herein include other embodiments
In included some features rather than further feature, but the combination of the feature of be the same as Example does not mean in of the invention
Within the scope of and form different embodiments.For example, in the following claims, times of embodiment claimed
One of meaning mode can be used in any combination.
It should be noted that the present invention will be described rather than limits the invention for above-described embodiment, and ability
Field technique personnel can design alternative embodiment without departing from the scope of the appended claims.In the claims,
Any reference symbol between bracket should not be configured to limitations on claims.Word "comprising" is not excluded the presence of not
Element or step listed in the claims.Word "a" or "an" before element does not exclude the presence of multiple such
Element.The present invention can be by means of including the hardware of some different elements and coming real by means of properly programmed computer
It is existing.In if the unit claim of equipment for drying is listed, several in these devices can be by same hardware branch
To embody.The use of word first, second, and third does not indicate that any order.These words can be explained and run after fame
Claim.
One of ordinary skill in the art will appreciate that：Various embodiments above is merely illustrative of the technical solution of the present invention, and
It is non-that it is limited；Although the present invention is described in detail with reference to foregoing embodiments, one of ordinary skill in the art
It should be understood that：It can still modify to the technical scheme described in foregoing embodiments, or to which part or
All technical characteristic carries out equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from this hair
Bright claim limited range.
Claims (10)
1. a kind of method for planning path for mobile robot, it is characterised in that including：
S11, current location point, source location and the barrier region information for obtaining mobile robot；
S12, according to the current location point generate local window, the local window be by the center of circle of the current location point,
Using preset length as the region of radius；
S13, judge the source location whether be located at the local window in, obtain the first judged result；
If S14, the first judged result are no, obtained according to the current location point, source location and default planning formula
Obtain sub-objective location point；
S15, the present bit obtained according to the current location point, sub-objective location point and default route searching formula
Put the local path and record a little to the sub-objective location point；
S16, judge whether the sub-objective location point is source location, obtain the second judged result；
If S17, the second judged result are yes, shown after the local path of acquisition is smoothed.
2. according to the method described in claim 1, it is characterised in that also include：If the first judged result is yes, according to described
Current location point, source location and default route searching formula obtain the current location point to the overall situation of source location
Path is simultaneously recorded, and is shown after the global path is smoothed.
3. according to the method described in claim 1, it is characterised in that also include：If the second judged result is no, currently to obtain
The sub-objective location point obtained is next current location point, continues executing with above-mentioned steps S12-S16.
4. according to the method described in claim 1, it is characterised in that it is described according to the current location point, source location and
Default planning formula obtains sub-objective location point, including：
The m location point of equidistant selection on the circumference of the local window；
The location point not intersected with barrier region is filtered out from m location point；
The corresponding cost of the location point each filtered out is obtained according to current location point, source location and default planning formula
Value, elects the minimum location point of cost value as sub-objective location point；
Wherein, the planning formula is：
H (n) is the cost value for the location point chosen, (xr,yr) be current location point coordinate, (xg,yg) it is source location
Coordinate, n is the nth position point in m location point, and r is the radius of local window.
5. according to the method described in claim 1, it is characterised in that described according to the current location point, sub-objective position
Put a little and default route searching formula obtains the current location point to the local path of the sub-objective location point, bag
Include：
Calculated according to the current location point, sub-objective location point and default route searching formula and obtain mobile robot
Moving direction；
Local path is obtained according to the moving direction and default step-length and default step-length number of times；
Wherein, the route searching formula is：
Fatt(q)=η ρg；
Ftotal=Fatt(q)+Frep(q)=Fatt(q)nRG+Frep1(q)nOR+Frep2(q)nRG；
Wherein,
Fatt(q) it is gravitation, Frep(q) it is repulsion, FtotalTo make a concerted effort, nORTo point to the direction of current location point along barrier,
nRGTo point to the direction of source location along robot, η is gravitational field gain coefficient, ρgFor current location point to target location
The distance of point, ρbFor the distance of current location point to barrier, k is repulsion gain coefficient, and a ＞ 0 are predetermined coefficient, ρ0To be pre-
If threshold value, Frep1(q) it is the repulsion in the direction that current location point is pointed to along barrier, Frep2(q) it is to point to mesh along robot
The repulsion in the direction of cursor position point.
6. a kind of mobile robot path planning device, it is characterised in that including：
Acquisition module, current location point, source location and barrier region information for obtaining mobile robot；
Generation module, for generating local window according to the current location point, the local window is with the current location
Point is the center of circle, using preset length as the region of radius；
First judge module, for judging whether the source location is located in the local window, obtains first and judges knot
Really；
Planning module, for being no when the first judged result, according to the current location point, source location and default planning
Formula obtains sub-objective location point；
Search module, for being obtained according to the current location point, sub-objective location point and default route searching formula
Local path and record of the current location point to the sub-objective location point；
Second judge module, for judging whether the sub-objective location point is source location, obtains second and judges knot
Really；
Performing module, for being yes when the second judged result, shows after the local path of acquisition is smoothed.
7. device according to claim 6, it is characterised in that the performing module is additionally operable to：When the first judged result is
It is that the current location point is obtained to target according to the current location point, source location and default route searching formula
The global path and record of location point, and show after the global path is smoothed.
8. device according to claim 6, it is characterised in that the performing module is additionally operable to：When the second judged result is
It is no, by the sub-objective location point currently obtained be next current location point, and next current location point send
To the generation module.
9. device according to claim 6, it is characterised in that the planning module specifically for：
The m location point of equidistant selection on the circumference of the local window；
The location point not intersected with barrier region is filtered out from m location point；
The corresponding cost of the location point each filtered out is obtained according to current location point, source location and default planning formula
Value, elects the minimum location point of cost value as sub-objective location point；
Wherein, the planning formula is：
H (n) is the cost value for the location point chosen, (xr,yr) be current location point coordinate, (xg,yg) it is source location
Coordinate, n is the nth position point in m location point, and r is the radius of local window.
10. device according to claim 6, it is characterised in that the search module specifically for：
Calculated according to the current location point, sub-objective location point and default route searching formula and obtain mobile robot
Moving direction；
Local path is obtained according to the moving direction and default step-length and default step-length number of times；
Wherein, the route searching formula is：
Fatt(q)=η ρg；
Ftotal=Fatt(q)+Frep(q)=Fatt(q)nRG+Frep1(q)nOR+Frep2(q)nRG；
Wherein,
Fatt(q) it is gravitation, Frep(q) it is repulsion, FtotalTo make a concerted effort, nORTo point to the direction of current location point along barrier,
nRGTo point to the direction of source location along robot, η is gravitational field gain coefficient, ρgFor current location point to target location
The distance of point, ρbFor the distance of current location point to barrier, k is repulsion gain coefficient, and a ＞ 0 are predetermined coefficient, ρ0To be pre-
If threshold value, Frep1(q) it is the repulsion in the direction that current location point is pointed to along barrier, Frep2(q) it is to point to mesh along robot
The repulsion in the direction of cursor position point.
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