CN107702723B - A kind of robot path planning method, storage medium and equipment - Google Patents
A kind of robot path planning method, storage medium and equipment Download PDFInfo
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Abstract
The invention discloses a kind of robot path planning method, storage medium and equipment, which comprises is constructed using environmental map of the honeycomb Grid Method to robot ambulation, establishes environmental map model；Optimum route search is carried out to the walking path of robot, cooks up an optimal path；The dog leg path of robot is smoothed.The present invention divides environmental map using honeycomb raster based method, avoids excessive corner in conventional grid method, validity and safety issue；And the advantages of combining by honeycomb Grid Method and by the tree growth simulation algorithm of research object of plant, play each section, robot path planning's problem is probed into terms of new.
Description
Technical field
The present invention relates to robot path planning field more particularly to a kind of robot path planning methods, storage medium
And equipment.
Background technique
As Robot industry is quickly grown, intelligence degree is higher and higher, and robot has been widely used in each
Field, and path planning problem is the important ring in robot control and navigation, a good Path Planning can be protected
Card robot security effectively completes appointed task, therefore in recent years, the path planning problem of robot is widely visited
Rope and research.
Traditional robot path planning mostly uses Grid Method constructing environment map, and algorithm model is mainly with analogies physics and chemistry
Rule or animal, insect are learned, the life style of the biology such as bacterium is the tradition research method of background technique, by establishing model
The phenomenon in description nature is gone, this class model tends to obtain good approximate solution even optimal solution, so that algorithm
Application field is widened rapidly.
For existence angle, above-mentioned biology must complete some behaviors within a short period of time, although this kind of bionic Algorithm
In solving optimization problem, a satisfactory solution can be rapidly converged to, but algorithm the convergence speed is very fast, be easy that algorithm is made to fall into part
Extreme point.Traditional Grid Method there is also corners it is excessive, validity and safety are lower the problems such as.
The growth pattern of plant is different from other biological, its speed of growth is relatively slow, existence region is relatively wide, growth time compared with
Long, the adaptability of plant is more than other biological group to a certain extent.As it can be seen that using the growth pattern of plant as the tree of background
Growth algorithm can provide a kind of new thinking for robot path planning's problem.
Summary of the invention
For the defects in the prior art, the present invention provides a kind of robot path planning method, storage medium and equipment,
Environmental map is divided using honeycomb raster based method, avoids excessive corner in conventional grid method, validity and safety
Problem；And the advantages of combining by honeycomb Grid Method and by the tree growth simulation algorithm of research object of plant, play each section, from
New aspect probes into robot path planning's problem.
In a first aspect, the present invention provides a kind of robot path planning methods, which comprises
It is constructed using environmental map of the honeycomb Grid Method to robot ambulation, establishes environmental map model；
Optimum route search is carried out to the walking path of robot, cooks up an optimal path；
The dog leg path of robot is smoothed.
Further, described to be constructed using environmental map of the honeycomb Grid Method to robot ambulation, with establishing environment
Graph model specifically includes:
If the side length of honeycomb grid is 1, xmax、ymaxRespectively indicate the maximum value of X-direction and Y direction；e1、e2Respectively
Indicate the vector of a unit in X-axis and Y-axis, and
NXFor the maximum serial number number in X-axis, NYFor the maximum serial number number in Y-axis；
Then the relationship of grid coordinate and serial number is expressed as:
Wherein, Nx1For the first odd-numbered line grid maximum serial number number, Nx2For the first even number line grid maximum serial number number, serial number
It is as shown in Figure 3 with the corresponding relationship of grid.
Further, the walking path to robot carries out optimum route search, cooks up an optimal path, has
Body includes:
Using tree to the optimizing principle of light branch growth, mobile robot is carried out global time using tree growth simulation algorithm
Formula path planning is gone through, the optimal path from origin-to-destination is searched out.
Further, the detailed process of the tree growth simulation algorithm includes:
Calculate environmental map in any position branch intensity of illumination and corresponding photosynthetic rate, establish intensity of illumination and
The expression formula of photosynthetic rate；
Calculate the coordinate position in the random bifurcation of the maximum position of intensity of illumination；
Optimizing is grown under simulated environment, determines optimal path.
Further, the intensity of illumination expression formula of any position branch are as follows:
Wherein, I (i) indicates coordinate (xi,yi) at branch intensity of illumination, klIndicate intensity of illumination coefficient, (xT,yT) it is mesh
The coordinate of cursor position, (xB,yB) be initial position coordinate.
Further, the coordinate position of the random bifurcation are as follows:
Wherein,Indicate the most strong position for the intensity of illumination that t is sensed for branches and leaves, i.e. optimum growh vegetarian refreshments
Coordinate position, and to light generate branching-point coordinate position；It indicates at the most strong position to light direction
Random number, t indicate the branch growth period before branch, and t+1 indicates the branch growth period after branch.
Further, the dog leg path to robot is smoothed, and is specifically included:
Path smooth is carried out using three rank Beziers, whether there is or not avoiding obstacles according to smoothed out curve, establish phase
The selection mechanism answered is selected to avoiding obstacles, without two kinds of situations of avoiding obstacles, makes the walking path of robot most
It is smooth in big degree.
Further, it is described according to smoothed out curve whether there is or not avoiding obstacles, establish corresponding selection mechanism to avoiding
Barrier is selected without two kinds of situations of avoiding obstacles, is specifically included:
The path point cooked up is set to the minimum range of barrier as Lmin, the safe distance of path point to barrier is
Dsafe,
In formula: xi(t) and yi(t) be Bezier planning after path point coordinate；x0(i) and y0It (i) is grating map
In each barrier the center of circle；R (i) is the radius size of each barrier, the time in t Bezier formula；
When path point and the minimum range of barrier are greater than or equal to safe distance, after selecting Bezier planning
Curved path section；When path point and the minimum range of barrier are less than safe distance, the path of Bezier planning is abandoned,
Select the path planning section under primal algorithm.
Second aspect, the present invention also provides a kind of computer readable storage mediums, real when which is executed by processor
Existing following steps:
It is constructed using environmental map of the honeycomb Grid Method to robot ambulation, establishes environmental map model；
Optimum route search is carried out to the walking path of robot, cooks up an optimal path；
The dog leg path of robot is smoothed.
The third aspect the present invention also provides a kind of computer equipment, including memory, processor and is stored in memory
Computer program that is upper and can running on a processor, the processor perform the steps of when executing described program
It is constructed using environmental map of the honeycomb Grid Method to robot ambulation, establishes environmental map model；
Optimum route search is carried out to the walking path of robot, cooks up an optimal path；
The dog leg path of robot is smoothed.
As shown from the above technical solution, the present invention provides a kind of robot path planning method, storage medium and equipment, with
The prior art is compared, and advantage is:
(1) environmental map is divided using honeycomb grid (regular hexagon grid) method, is clearly given each
The corresponding formula of honeycomb grid centre coordinate position and grid serial number number, by robot path planning's point and grid positions in algorithm
It is mapped, avoids excessive corner in conventional grid method, validity and safety issue.
(2) model is systematically established to the optimizing principle of light branch growth using tree, using tree growth simulation algorithm to shifting
Mobile robot carries out global traversal formula path planning, searches out the optimal path from origin-to-destination, enables the algorithm
It is enough to obtain certain effect on solving the problems, such as global path planning existing for traditional bionic Algorithm.
(3) by honeycomb Grid Method and using plant as the tree growth simulation algorithm knot of research object on path planning problem
The advantages of closing, playing each section, to probe into robot path planning's problem in terms of new.
Detailed description of the invention
Fig. 1 is a kind of flow diagram of robot path planning method provided by the invention.
Fig. 2 is a kind of environmental map schematic diagram of robot path planning method provided by the invention.
Fig. 3 is established the schematic diagram of honeycomb Grid Coordinate System by a kind of robot path planning method provided by the invention.
Fig. 4 is the flow diagram for setting growth simulation algorithm.
Fig. 5 is the relation schematic diagram of shoot and leaf growth rate and auxin concentration.
Fig. 6 is the schematic diagram that path smooth is carried out to the part broken line point in the walking path of robot.
Path selection signal when Fig. 7 is using the path after Bezier still between barrier and dog leg path
Figure.
Path selection schematic diagram when Fig. 8 is using the path after Bezier right through barrier.
Fig. 9 is the optimal path schematic diagram that robot path planning method provided by the invention is cooked up.
Specific embodiment
It is described in detail below in conjunction with embodiment of the attached drawing to technical solution of the present invention.Following embodiment is only used for
Clearly illustrate technical solution of the present invention, therefore be intended only as example, and cannot be used as a limitation and limit protection of the invention
Range.
Embodiment one
As shown in Figure 1, the embodiment of the present invention one provides a kind of robot path planning based on tree growth simulation algorithm
Method, comprising:
Step S1 is constructed using environmental map of the honeycomb Grid Method to robot ambulation, establishes environmental map model.
As shown in Fig. 2, in the environmental map being made of honeycomb grid, environment is divided the environmental map of robot ambulation
Building for the identical hexagonal grid of shape, the environmental map model of the present embodiment is established with 40 × 50 honeycomb grid sets
At two-dimensional space plane in, and there is only static-obstacle things in space, while static-obstacle thing are extended to circle to indicate,
And determine its center of circle and radius, to determine corresponding position of the static-obstacle thing in space.
Present embodiment assumes that initial position of the mobile robot in environmental map is first honeycomb grid B (xB,yB)、
Target position T (xT,yT), the position of static-obstacle thing and size are it is known that according to the initial position in environmental map, mesh in region
Cursor position and Obstacle Position, using horizontal axis as X-axis, the longitudinal axis is Y-axis, constructs new honeycomb Grid Coordinate System, as shown in Figure 3.
In practical applications according to the size of mobile robot, mobile robot is reduced into a particle, robot exists
The movement of particle is regarded in movement in grating map as, and corresponding extension and Fuzzy processing are done in the boundary of barrier in environment.
In Fig. 2, region shown in black shade is treated barrier, and blank grid indicates that robot can be free
By place, the grey dot in the lower left corner represents the initial position of robot path, and the grey dot in the upper right corner represents machine
The target position in people path；In Fig. 3, the gray circles in the lower left corner are the initial position of robot path, the grey in the upper right corner
Circle is the target position of robot path.It in this way converts robot path planning's problem in space to most short in grid map
Route searching problem simplifies the complexity of problem solving.
Step S2 carries out optimum route search to the walking path of robot, cooks up an optimal path.
Specifically, using tree growth simulation algorithm, global traversal formula path optimizing, rule are carried out to the walking path of robot
Mark an optimal path from initial position to target position.
Wherein, as shown in figure 4, the detailed process of tree growth simulation algorithm are as follows:
Step S21 calculates the intensity of illumination and corresponding photosynthetic rate of any position branch in environmental map, establishes light
According to the expression formula of intensity and photosynthetic rate；
Firstly, the principle changed using the intensity of illumination between light and each branches and leaves with the length of distance between the two, in ring
Seek the intensity of illumination and corresponding photosynthetic rate of position in the graph model of condition all over, i.e. searching objective function；In a coordinate system
Establish any position point (xi,yi) at branch intensity of illumination expression formula, which may be expressed as:
Wherein, klIndicate intensity of illumination coefficient, (xT,yT) be target position coordinate, (xB,yB) it is (the starting of initial tree bud
Position) coordinate.
Any position point (xi,yi) at the photosynthetic rate of branch may be expressed as:
Wherein, α is slope of the photoresponse curve when intensity of illumination is zero in photosynthesis, i.e., photoresponse curve is initial
Slope (Initial quantum yield), β are correction factor, PRmaxMaximum net photosynthetic rate, γ be Initial quantum yield and plant most
The ratio between big photosynthetic rate, i.e.,RdIt is Dark respiration rate.α,PRmaxAnd RdThese three parameters are all used to control photosynthetic speed
Rate size.
Step S22 calculates the coordinate position of the random bifurcation at the maximum position of intensity of illumination；
Biological experiment proves, determines that the growth prime information of twig cell division and growth is not that each cell is inherent
Just it is endowed, but since cell-growth systems have received the location information of merisis from its environment, according to this
Information, plant growth just show apparent phototropism growth characteristic.
Due to the big position of intensity of illumination, progress photosynthetic rate is fast when tree grows, and growth rate is fast, herein auxin concentration
Often near optimum growh vegetarian refreshments, the auxin concentration of bud and the relationship of growth rate are in the process changed,
Auxin concentration it is too high or it is too low the growth rate of bud can all be had a huge impact, so best bud auxin concentration position
It sets and is nearby easiest to generate branch first, i.e., regulation intensity of illumination maximum position corresponds to photosynthetic rate maximum position, and best
At auxin concentration, as shown in Figure 5.
According to above-mentioned principle, branch expression formula be may be expressed as:
Wherein,Indicate t+1 for the coordinate position of any one location point i point in shoot and leaf growth period；Indicate the most strong position for the intensity of illumination that t is sensed for branches and leaves, the i.e. coordinate position of optimum growh vegetarian refreshments,
It is exactly the coordinate position that branching-point is generated to light；Before indicating that the random number at this to light direction, t indicate branch
The growth cycle of the branches and leaves, t+1 indicate the growth cycle of the branches and leaves after branch.
When new branch's germination, shoot and old branch are combined into one, and are the same limb in same plane.
Step S23, optimizing is grown under simulated environment, determines optimal path.
Plant during the growth process, often by many influences, influence such as itself apical dominance to side shoot, natural calamity
The influence of evil (fire, lightning stroke etc.) and artificial effect (artificial beta pruning etc.), herein for simplicity, without exception by above-mentioned influence point
For two kinds of typical situations: there is no the case where barrier, there is the case where some obstacles.
Tree does not encounter barrier during the growth process, keeps normally long to photoproduction；If barrier appears in growth
On direction, then another direction becomes the direction of growth；If there is no available direction in growth course, sets and stop branch life
It is long, any further calculating will not be carried out.Obstacle may be the branch occurred first；The branch occurred first will give birth to first
It is long；Other branches for being branched obstruction will determine that being to continue with growth is also off, and where this depends on barrier.It is specific
Rule is as follows:
The terminal bud (optimal location) of branch is grown under apical dominance effect, is in path planning without meeting with barrier mould
Type, the model may be expressed as:
Wherein,Indicate t+1 for any one location point i'(P' in shoot and leaf growth periodIt is corresponding
I) coordinate position；Indicate the most strong position for the intensity of illumination that t is sensed for branches and leaves, i.e. optimum growh element
The coordinate position of point, that is, the coordinate position to light generation branching-point；Be withCentered on neighborhood
Coordinate position of the t for any one location point i of growth cycle in range；Growth is weight, r be (0,1] between random number.
Cause photosynthesis insufficient since branches and leaves above block, under the action of natural cause, branch random selection property
Change the direction of growth, is experience barrier model in path planning, may be expressed as:
Wherein,Indicate t+1 for the coordinate position of any one location point i " in shoot and leaf growth period；P(xmin,
ymin)、P(xmax,ymax) be respectively withCentered on the borderline optimal value point of contiguous range and worst-case value point；
Wherein, r be (0,1] between random number.
Side shoot is into photoproduction growth process, due to photosynthesis deficiency, auxin concentration is not enough to needed for providing shoot and leaf growth
Energy, cause branch to stop growing, be to fall into barrier model in path planning, which may be expressed as:
Wherein,Indicate t+1 for the coordinate position of any one location point i " ' in shoot and leaf growth period；Indicate the most strong position for the intensity of illumination that t is sensed for branches and leaves, the i.e. coordinate position of optimum growh vegetarian refreshments, also
It is the coordinate position that branching-point is generated to light.
For three kinds of different models that optimizing under simulated environment is grown, to the optimum path planning design object under the algorithm
Function are as follows:
Wherein, μ1、μ2、μ3It is weight coefficient, searches out an optimal path for adjusting.
Step S3 is smoothed the dog leg path of robot.
Step S3 is specifically included: carrying out path smooth using three rank Beziers, whether there is or not keep away according to smoothed out curve
Barrier is opened, a selection mechanism is established and both of these case is selected, keep robot ambulation path smooth to the full extent.
As shown in fig. 6, detailed process is as follows for path smooth:
In the searching process of path, the honeycomb Grid Method of use alleviates robot to a certain extent to be caused due to turning
Safety issue, it is contemplated that smooth curved path ratio is walked by robot, to walk broken line more preferable, using three rank Beziers
(Bezier curve) carries out path smooth, and dog leg path is become smooth curved path.
The parametric equation of n times Bezier curve each point is expressed as
In formula,The also referred to as Bornstein base of n rank
Bottom multinomial defines 0！=1, t represent the time.Point PiThe referred to as control point of Bezier.
By P0、P1、P2、P3Four points define three rank Beziers, the parametric form of three rank Bezier curves are as follows:
B (t)=P0(1-t)3+3P1t(1-t)2+3P2t2(1-t)+P3t3,t∈[0,1]。
Complete optimal path is considered as three rank Bezier of multistage and is spliced, in order to guarantee segmentation parameter curve
It is seamlessly transitted from one section to another section, a kind of parametric continuity derivative can be matched in the common portion of curved section to guarantee parameter
Continuity.
0 rank parametric continuity, it is continuous to be denoted as C0, can simply indicate that two sections of curves are connected.First order parameter continuity, note
Make that C1 is continuous, illustrates that the equation of two adjacent curve sections has identical first derivative (cutting arrow) in intersection.Second order parameter is continuous
Property, it is continuous to be denoted as C2, refers to that two curved sections have identical single order and second dervative in junction.
Equipped with two sections of Bezier curve Q1(t) and Q2(t), characteristic polygon vertex is respectively P0、P1、P2、P3And R0、R1、
R2、R3。
It is required that P3=R0, and require two curved sections in tie point P3(R0) at realize that C1 is continuous, then Q '1(1)=3 (P3-
P2), Q'2(0)=3 (R1-R0), Q'2(0)=α Q '1(1), i.e. (R1-R0)=α (P3-P2), wherein α is scale factor.Illustrate reality
The existing continuous condition of C1 is P2, P3(R0), R1Point-blank, and P2, R1In P3(R0) two sides.
Two kinds of situations can be encountered during path smooth, the first is using the path after Bezier still in obstacle
Between object and dog leg path, as shown in fig. 7, at this moment we select using the path after Bezier；Another situation is that making
With the path after Bezier right through barrier, as shown in figure 8, it is thus nonsensical, so encountering such case
Just abandon the path of Bezier planning.
For both of these case, establishes a selection mechanism and both of these case is selected.
Assuming that the minimum range of the path point cooked up to barrier is Lmin, setting path point to barrier safely away from
From for Dsafe,
In formula: xi(t) and yi(t) be Bezier curve planning after path point coordinate；x0(i) and y0It (i) is grating map
In each barrier central coordinate of circle (barrier be circle) in the present embodiment；R (i) is the radius size of each barrier, and t is
Time in Bezier curve.
It is main to consider Bezier curve planning when path point and the minimum range of barrier are greater than or equal to safe distance
Curved path section afterwards；When path point and the minimum range of barrier are less than safe distance, for avoiding obstacles, abandon
The path of Bezier curve planning, selects the path planning section under primal algorithm.
The optimal path planned by paths planning method described in embodiment one is as shown in Figure 9.
Embodiment two
Accordingly to the embodiment of the present invention one, second embodiment of the present invention provides a kind of computer readable storage mediums, thereon
It is stored with computer program, which performs the steps of when being executed by processor
Step S1 is constructed using environmental map of the honeycomb Grid Method to robot ambulation, establishes environmental map model；
Step S2 carries out optimum route search to the walking path of robot, cooks up an optimal path；
Step S3 is smoothed the dog leg path of robot.
Above-mentioned storage medium includes: USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), deposits at random
The various media that can store program code such as access to memory (RAM, Random Access Memory), magnetic or disk.
The above-mentioned specific restriction about computer readable storage medium may refer to embodiment one, and details are not described herein.
Embodiment three
Accordingly to the embodiment of the present invention one, the embodiment of the present invention three provides a kind of computer equipment, including memory, place
The computer program managing device and storage on a memory and can running on a processor, the processor execute real when described program
Existing following steps:
Step S1 is constructed using environmental map of the honeycomb Grid Method to robot ambulation, establishes environmental map model；
Step S2 carries out optimum route search to the walking path of robot, cooks up an optimal path；
Step S3 is smoothed the dog leg path of robot.
The above-mentioned specific restriction about computer equipment may refer to embodiment one, and details are not described herein.
Compared with prior art, advantage is the embodiment of the present invention:
(1) advantage that conventional grid method divides environment is used for reference, while eliminating what conventional grid method divided environment
Defect borrows existing honeycomb Raster Data Model and plans again, clearly gives each honeycomb grid centre coordinate position and grid
Robot path planning's point in algorithm is mapped by the correspondence formula of lattice serial number number with grid positions.(just using honeycomb grid
Hexagonal grid) method environmental map is divided, avoid excessive corner in conventional grid method, validity and safety
Problem.
(2) using tree to the optimizing principle of light branch growth, system establishes model, using tree growth simulation algorithm to shifting
Mobile robot carries out global traversal formula path planning, searches out the optimal path from origin-to-destination, enables the algorithm
Certain effect is obtained on enough global path plannings existing for traditional bionic Algorithm.
(3) traditional robot path planning mostly uses Grid Method constructing environment map, and algorithm model is mainly to simulate nature
Tradition research method based on rule or the growth life style of bacterium, insect and animal.The embodiment of the present invention is in path
On planning problem, is combined by honeycomb Grid Method and by the tree growth simulation algorithm of research object of plant, play the excellent of each section
Point, to probe into robot path planning's problem in terms of new.
Without conflicting with each other, those skilled in the art can be by different embodiments described in this specification
Or the feature of example and different embodiments or examples is combined.
It should be noted that each box and frame in block diagram and or flow chart in Figure of description of the invention
The combination of figure and/or the box in flow chart can use the dedicated hardware based system for executing defined function or movement
It realizes, or can be realized with the combination that specialized hardware is instructed with acquisition machine.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme should all cover within the scope of the claims and the description of the invention.
Claims (8)
1. a kind of robot path planning method, which is characterized in that the described method includes:
It is constructed using environmental map of the honeycomb Grid Method to robot ambulation, establishes environmental map model；
Optimum route search is carried out to the walking path of robot, cooks up an optimal path；
The dog leg path of robot is smoothed；
Wherein, the walking path to robot carries out optimum route search, cooks up an optimal path, specifically includes:
Using tree to the optimizing principle of light branch growth, global traversal formula path is carried out to mobile robot using tree growth simulation algorithm
Planning, searches out the optimal path from origin-to-destination；
It is described tree growth simulation algorithm detailed process include:
The intensity of illumination and corresponding photosynthetic rate for calculating any position branch in environmental map establish intensity of illumination and photosynthetic
The expression formula of rate；
Calculate the coordinate position in the random bifurcation of the maximum position of intensity of illumination；
Optimizing is grown under simulated environment, determines optimal path.
2. robot path planning method according to claim 1, which is characterized in that described to use honeycomb Grid Method to machine
The environmental map of device people walking constructs, and establishes environmental map model, specifically includes:
If the side length of honeycomb grid is 1, xmax、ymaxRespectively indicate the maximum value of X-direction and Y direction；e1、e2Respectively indicate X
The vector of a unit on axis and Y-axis, and
NXFor the maximum serial number number in X-axis, NYFor the maximum serial number number in Y-axis；
Then the relationship of grid coordinate and serial number is expressed as:
Wherein, Nx1For the first odd-numbered line grid maximum serial number number, Nx2For the first even number line grid maximum serial number number.
3. robot path planning method according to claim 1, which is characterized in that the light of any position branch
According to intensity expression formula are as follows:
Wherein, I (i) indicates coordinate (xi,yi) at branch intensity of illumination, klIndicate intensity of illumination coefficient, (xT,yT) it is target position
The coordinate set, (xB,yB) be initial position coordinate.
4. robot path planning method according to claim 1, which is characterized in that the coordinate position of the random bifurcation
Are as follows:
Wherein,Indicate the most strong position for the intensity of illumination that t is sensed for branches and leaves, the i.e. seat of optimum growh vegetarian refreshments
Cursor position, and the coordinate position to light generation branching-point；It indicates at the most strong position to the random of light direction
Number, t indicate the branch growth period before branch, and t+1 indicates the branch growth period after branch.
5. robot path planning method according to claim 1, which is characterized in that the dog leg path to robot
It is smoothed, specifically includes:
Path smooth is carried out using three rank Beziers, whether there is or not avoiding obstacles according to smoothed out curve, establish corresponding
Selection mechanism is selected to avoiding obstacles, without two kinds of situations of avoiding obstacles, makes the walking path maximum journey of robot
It is smooth on degree.
6. robot path planning method according to claim 5, which is characterized in that described to be had according to smoothed out curve
It without avoiding obstacles, establishes corresponding selection mechanism and is selected to avoiding obstacles, without two kinds of situations of avoiding obstacles, have
Body includes:
The path point cooked up is set to the minimum range of barrier as Lmin, the safe distance of path point to barrier is Dsafe,
In formula: xi(t) and yi(t) be Bezier planning after path point coordinate；x0(i) and y0It (i) is each in grating map
The center of circle of barrier；R (i) is the radius size of each barrier；
Curve when path point and the minimum range of barrier are greater than or equal to safe distance, after selecting Bezier planning
Route segment；When path point and the minimum range of barrier are less than safe distance, the path of Bezier planning, selection are abandoned
Path planning section under primal algorithm.
7. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is held by processor
It is performed the steps of when row
It is constructed using environmental map of the honeycomb Grid Method to robot ambulation, establishes environmental map model；
Optimum route search is carried out to the walking path of robot, cooks up an optimal path；
The dog leg path of robot is smoothed；
Wherein, the walking path to robot carries out optimum route search, cooks up an optimal path, specifically includes:
Using tree to the optimizing principle of light branch growth, global traversal formula path is carried out to mobile robot using tree growth simulation algorithm
Planning, searches out the optimal path from origin-to-destination；
It is described tree growth simulation algorithm detailed process include:
The intensity of illumination and corresponding photosynthetic rate for calculating any position branch in environmental map establish intensity of illumination and photosynthetic
The expression formula of rate；
Calculate the coordinate position in the random bifurcation of the maximum position of intensity of illumination；
Optimizing is grown under simulated environment, determines optimal path.
8. a kind of computer equipment including memory, processor and stores the meter that can be run on a memory and on a processor
Calculation machine program, which is characterized in that the processor performs the steps of when executing described program
It is constructed using environmental map of the honeycomb Grid Method to robot ambulation, establishes environmental map model；
Optimum route search is carried out to the walking path of robot, cooks up an optimal path；
The dog leg path of robot is smoothed；
Wherein, the walking path to robot carries out optimum route search, cooks up an optimal path, specifically includes:
Using tree to the optimizing principle of light branch growth, global traversal formula path is carried out to mobile robot using tree growth simulation algorithm
Planning, searches out the optimal path from origin-to-destination；
It is described tree growth simulation algorithm detailed process include:
The intensity of illumination and corresponding photosynthetic rate for calculating any position branch in environmental map establish intensity of illumination and photosynthetic
The expression formula of rate；
Calculate the coordinate position in the random bifurcation of the maximum position of intensity of illumination；
Optimizing is grown under simulated environment, determines optimal path.
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| CN109634304B (en) * | 2018-12-13 | 2022-07-15 | 中国科学院自动化研究所南京人工智能芯片创新研究院 | Unmanned aerial vehicle flight path planning method and device and storage medium |
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| CN110045731B (en) * | 2019-03-26 | 2022-04-12 | 深圳市中科晟达互联智能科技有限公司 | Path planning method, electronic device and computer readable storage medium |
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| CN111121750B (en) * | 2019-12-26 | 2022-04-22 | 广东博智林机器人有限公司 | Indoor path acquisition method and device |
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