CN109855622A - Method for searching path and equipment for mobile robot - Google Patents
Method for searching path and equipment for mobile robot Download PDFInfo
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- CN109855622A CN109855622A CN201910013242.7A CN201910013242A CN109855622A CN 109855622 A CN109855622 A CN 109855622A CN 201910013242 A CN201910013242 A CN 201910013242A CN 109855622 A CN109855622 A CN 109855622A
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Abstract
The object of the present invention is to provide a kind of method for searching path and equipment for mobile robot, the high-level policy of highly effective path search is carried out to large-scale map using Quick Extended random tree, user can create RRT when building figure in real time or carry out the creation of RRT to map known to large size, for in path search algorithm later, so that search time greatly reduces.The present invention can be from the navigation system use searched for a paths between the beginning and end of setting rapidly and be supplied to robot upper layer, the Core Superiority of RRT is that the time is extremely short, it is suitable for use in embedded device, solves the time-consuming very long pain spot of legacy paths searching algorithm.
Description
Technical field
The present invention relates to computer field more particularly to a kind of method for searching path and equipment for mobile robot.
Background technique
As the improvement of people's living standards, all kinds of home-care service type mobile robots are emerged in large numbers in blowout in recent years,
Such as sweeper, automatic meal delivery robot, bank cashier machine people etc..Service humanoid robot is improving basic function at present
Meanwhile it more joined mobile platform technology, enable product autonomous and carrying out map structuring and navigation.Traditional
Mobile robot uses shortest path first (Dijkstra), and advantage is can to find optimal path, but take long time, warp
Often search failure etc. drawback is not suitable for business environment and large-scale home environment.
Summary of the invention
It is an object of the present invention to provide a kind of method for searching path and equipment for mobile robot.
According to an aspect of the invention, there is provided a kind of method for searching path for mobile robot, this method packet
It includes:
The grating map for obtaining environment, determines the walkable region in the avoiding obstacles region in the grating map；
The beginning and end in path to be searched is obtained, the beginning and end is based on, is attempted in the grating map
Walkable region in establish RRT tree, wherein the RRT tree include sequentially connected multiple summits, each edge connect two top
Point, each vertex are located at the walkable region, and each vertex contains the coordinate information of the grating map, so in vertex
Two of them vertex is respectively beginning and end；
Judge whether the RRT tree generates success, if success, scans for the RRT tree, trial obtains the RRT
By a paths of the starting point to the end in tree.
Further, in the above method, the RRT tree is scanned for, trial obtains in the RRT tree by the starting point
A paths to terminal, comprising:
Each vertex by side connection from the off is successively searched for,
If current search stops search to the vertex comprising terminal；
If not including the vertex of terminal, continues recursion search and joined with all vertex searched by side
Other logical vertex, and so on until traversing complete RRT tree or searching the vertex comprising terminal.
Further, in the above method, the beginning and end in path to be searched is obtained, is based on the beginning and end,
RRT tree is established in trial in the walkable region in the grating map, comprising:
Step S211, using preset step-length as distance, generates one in the walkable region centered on the starting point at random
Line segment cancels the line segment if the line segment encounters the barrier region, if the line segment does not encounter the barrier area
Domain, then line segment generates successfully, which is left to the side of RRT tree newly grown, one of vertex on the side of the new growth
For the starting point, another vertex is current newly-generated vertex；
Step S212, using current newly-generated vertex as starting point, centered on the starting point, with preset step-length be away from
From generating a line segment at random in the walkable region, if the line segment encounters the barrier region, cancel the line
Section, if the line segment does not encounter the barrier region, line segment is generated successfully, which is left to the new growth of RRT tree
Side, one of vertex on the side of the new growth is the starting point, another vertex is current newly-generated vertex；
Step S212 is repeated, until the current newly-generated vertex of the RRT tree is close to the terminal, then the RRT
Tree grows successfully, current newly-generated vertex and the terminal is connected into line segment, and the line segment is left to the new life of RRT tree
Long side；Alternatively, until the side density of the RRT tree reaches preset threshold, and the current newly-generated vertex of the RRT tree
Not close to the terminal, then the RRT tree growth failure.
Further, in the above method, the beginning and end in path to be searched is obtained, is based on the beginning and end,
RRT tree is established in trial in the walkable region in the grating map, comprising:
Step S221, using preset step-length as distance, generates one in the walkable region centered on the starting point at random
Line segment cancels the line segment if the line segment encounters the barrier region, if the line segment does not encounter the barrier area
Domain, then line segment generates successfully, which is left to the side of the first RRT tree newly grown, the side of the new growth one of them
Vertex is the starting point, another vertex is the current first newly-generated vertex；Meanwhile centered on the terminal, with default
Step-length is distance, generates a line segment at random in the walkable region and takes if the line segment encounters the barrier region
Disappear the line segment, if the line segment does not encounter the barrier region, line segment is generated successfully, which is left the 2nd RRT
The side of tree newly grown, one of vertex on the side of the new growth are the terminal, another vertex is current second newborn
At vertex；
Step S222, with the current first newly-generated vertex for the first starting point, centered on first starting point, with
Preset step-length is distance, generates a line segment at random in the walkable region, if the line segment encounters the barrier region,
Then cancel the line segment, if the line segment does not encounter the barrier region, line segment is generated successfully, which is left first
The side that the first of RRT tree newly grows, one of vertex on first side newly grown are first starting point, another top
Point is the current first newly-generated vertex；Meanwhile it being opened with the current second newly-generated vertex for the second starting point with described second
Centered on initial point, using preset step-length as distance, a line segment is generated at random in the walkable region, if the line segment encounters institute
Barrier region is stated, then cancels the line segment, if the line segment does not encounter the barrier region, line segment is generated successfully, by this
Line segment is left the second side newly grown of the 2nd RRT tree, and one of vertex on second side newly grown is described second
Starting point, another vertex are the current second newly-generated vertex.
Step S222 is repeated, until the first RRT tree and the 2nd RRT tree have the vertex of intersection, then the RRT tree grows
Success, is left the RRT tree for the first RRT tree and the 2nd RRT tree；Alternatively, until the first RRT tree and/or
The side density of two RRT trees reaches preset threshold, and the first RRT tree and the 2nd RRT do not set the vertex of intersection, then described
The growth failure of RRT tree.
Further, in the above method, before being scanned for the RRT tree, further includes:
If the pinch on the side of two connections is greater than preset threshold in RRT tree generated, wherein a line has difference
There are vertex E and F, which has vertex F and G respectively, and F is the public vertex on two sides,
Local optimum path between vertex E and G then is found with A* algorithm, and the local optimum path is left described
Side in RRT tree, meanwhile, two sides that the pinch is greater than preset threshold are removed in the RRT tree.
According to another aspect of the present invention, a kind of route searching equipment for mobile robot, the equipment are additionally provided
Include:
First device determines the avoiding obstacles region in the grating map for obtaining the grating map of environment
Walkable region；
Second device is based on the beginning and end, attempts in institute for obtaining the beginning and end in path to be searched
It states and establishes RRT tree in the walkable region in grating map, wherein the RRT tree includes sequentially connected multiple summits, each edge
Two vertex are connected, each vertex is located at the walkable region, and each vertex contains the coordinate information of the grating map,
So two of them vertex is respectively beginning and end in vertex；
3rd device, for judging whether the RRT tree generates success, if success, scans for the RRT tree, taste
Examination obtains the paths in the RRT tree by the starting point to the end.
Further, in above equipment, the 3rd device, for successively search for from the off by side connection
Each vertex, if current search stops search to the vertex comprising terminal；If not including the vertex of terminal, after
Continuous recursion search passes through other vertex of side connection with all vertex searched, and so on until traversal complete
RRT tree searches the vertex comprising terminal.
Further, in above equipment, the second device, comprising:
211st device is used for centered on the starting point, random in the walkable region using preset step-length as distance
A line segment is generated, if the line segment encounters the barrier region, cancels the line segment, if the line segment does not encounter the barrier
Hindering object area, then line segment generates successfully, which is left to the side of RRT tree newly grown, wherein the one of the side of the new growth
A vertex is the starting point, another vertex is current newly-generated vertex；
212nd device, for centered on the starting point, being walked with default using current newly-generated vertex as starting point
A length of distance generates a line segment in the walkable region at random and cancels if the line segment encounters the barrier region
The line segment, if the line segment does not encounter the barrier region, line segment is generated successfully, which is left the new of RRT tree
The side of growth, one of vertex on the side of the new growth are the starting point, another vertex is current newly-generated vertex；
The 212nd device is repeated, until the current newly-generated vertex of the RRT tree is close to the terminal,
The 213rd device is then executed, is grown successfully for feeding back the RRT tree, current newly-generated vertex is connected into the terminal
Line segment, and the line segment is left to the side of RRT tree newly grown；Alternatively, until the side density of the RRT tree reaches default threshold
Value, and the current newly-generated vertex of the RRT tree not close to the terminal, then the 223rd device of execution, described in feeding back
The growth failure of RRT tree.
Further, in above equipment, the second device, comprising:
221st device is used for centered on the starting point, random in the walkable region using preset step-length as distance
A line segment is generated, if the line segment encounters the barrier region, cancels the line segment, if the line segment does not encounter the barrier
Hinder object area, then line segment generates successfully, which is left to the side of the first RRT tree newly grown, the side of the new growth its
In vertex be the starting point, another vertex is the current first newly-generated vertex；Meanwhile centered on the terminal,
Using preset step-length as distance, a line segment is generated at random in the walkable region, if the line segment encounters the barrier area
The line segment is then cancelled in domain, if the line segment does not encounter the barrier region, line segment generates successfully, which is left
The side of 2nd RRT tree newly grown, one of vertex on the side of the new growth are the terminal, another vertex is current the
Two newly-generated vertex；
222nd device, used in, for the first starting point, being with first starting point with the current first newly-generated vertex
The heart generates a line segment in the walkable region, if the line segment encounters the barrier using preset step-length as distance at random
The line segment is then cancelled in region, if the line segment does not encounter the barrier region, line segment generates successfully, which is retained
For the first side newly grown of the first RRT tree, one of vertex on first side newly grown is first starting point, separately
One vertex is the current first newly-generated vertex；Meanwhile with the current second newly-generated vertex for the second starting point, with described
Centered on second starting point, using preset step-length as distance, a line segment is generated at random in the walkable region, if the line segment
Encounter the barrier region, then cancel the line segment, if the line segment does not encounter the barrier region, line segment generate at
The line segment is left the second side newly grown of the 2nd RRT tree by function, and one of vertex on second side newly grown is institute
The second starting point is stated, another vertex is the current second newly-generated vertex.
The 222nd is repeated, until the first RRT tree and the 2nd RRT tree have the vertex of intersection, then executes the 223rd dress
It sets, is grown successfully for feeding back the RRT tree, the first RRT tree and the 2nd RRT tree are left the RRT tree；Alternatively,
Until the side density of the first RRT tree and/or the 2nd RRT tree reaches preset threshold, and the first RRT tree and the 2nd RRT
The vertex of intersection is not set, then executes the 223rd device, for feeding back the RRT tree growth failure.
Further, in above equipment, the 3rd device, if being also used to the side of two connections in RRT tree generated
Pinch be greater than preset threshold, wherein a line has respectively and has vertex E and F, which has vertex F and G, F respectively
For the public vertex on two sides, then local optimum path between vertex E and G is found with A* algorithm, and by the local optimum path
It is left the side in the RRT tree, meanwhile, two sides that the pinch is greater than preset threshold are removed in the RRT tree.
Compared with prior art, the present invention utilizes Quick Extended random tree (RRT, Rapidly-exploring Random
Tree the high-level policy of highly effective path search) is carried out to large-scale map, user can create RRT when building figure or in real time to big
Map known to type carries out the creation of RRT, in path search algorithm later, so that search time greatly reduces.The present invention
Can from searched for rapidly between the beginning and end of setting a paths and be supplied to robot upper layer navigation system use,
The Core Superiority of RRT is that the time is extremely short, is suitable for use in embedded device, and it is time-consuming very long to solve legacy paths searching algorithm
Pain spot.
Detailed description of the invention
By reading a detailed description of non-restrictive embodiments in the light of the attached drawings below, of the invention other
Feature, objects and advantages will become more apparent upon:
Fig. 1 shows the schematic diagram for the RRT tree of one embodiment of the invention generated in map；
Fig. 2 shows that one embodiment of the invention searches out the schematic diagram compared with shortest path in the RRT tree of generation.
The same or similar appended drawing reference represents the same or similar component in attached drawing.
Specific embodiment
Present invention is further described in detail with reference to the accompanying drawing.
In a typical configuration of this application, terminal, the equipment of service network and trusted party include one or more
Processor (CPU), input/output interface, network interface and memory.
Memory may include the non-volatile memory in computer-readable medium, random access memory (RAM) and/or
The forms such as Nonvolatile memory, such as read-only memory (ROM) or flash memory (flash RAM).Memory is computer-readable medium
Example.
Computer-readable medium includes permanent and non-permanent, removable and non-removable media can be by any method
Or technology come realize information store.Information can be computer readable instructions, data structure, the module of program or other data.
The example of the storage medium of computer includes, but are not limited to phase change memory (PRAM), static random access memory (SRAM), moves
State random access memory (DRAM), other kinds of random access memory (RAM), read-only memory (ROM), electric erasable
Programmable read only memory (EEPROM), flash memory or other memory techniques, read-only disc read only memory (CD-ROM) (CD-ROM),
Digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or
Any other non-transmission medium, can be used for storage can be accessed by a computing device information.As defined in this article, computer
Readable medium does not include non-temporary computer readable media (transitory media), such as the data-signal and carrier wave of modulation.
The present invention provides a kind of method for searching path for mobile robot, comprising:
Step S1 obtains the grating map of environment, determines walking for the avoiding obstacles region in the grating map
Region；
Step S2 obtains the beginning and end in path to be searched, is based on the beginning and end, attempts in the grid
RRT tree is established in walkable region in map, wherein the RRT tree includes sequentially connected multiple summits, each edge connection two
A vertex, each vertex are located at the walkable region, and each vertex contains the coordinate information of the grating map, so top
Two of them vertex is respectively beginning and end in point；
Step S3, judges whether the RRT tree generates success, if success, scans for the RRT tree, attempt to obtain
By a paths of the starting point to the end in the RRT tree.
Here, black region is barrier region as shown in Figure 1, white area is walkable region in map.Work as shifting
When mobile robot obtains global grating map or obtains local grid map when building figure, grating map Structure Creating can be used
One RRT tree, each vertex in RRT tree contain the coordinate information of map, and each edge in RRT tree contains two vertex
Connection relationship.It after RRT tree generates, can be scanned for according to the data structure of RRT tree, form a paths.
The vertex includes coordinate information, and each edge in RRT tree is the connection relationship of two fixed points, beginning and end
It is a special vertex in RRT.It is subsequent that the RRT tree is scanned for, it obtains in the RRT tree by the starting point to end
One paths of point, be to pass through each fixed point and determine according to the order of connection on the side of each fixed point of RRT tree in this RRT tree.
The present invention be it is a kind of using Quick Extended random tree (RRT, Rapidly-exploring Random Tree) to big
Type map carries out the high-level policy of highly effective path search, and user can create RRT or to known to large size when building figure in real time
Figure carries out the creation of RRT, in path search algorithm later, so that search time greatly reduces.The present invention can be from setting
The navigation system use searched for a paths between fixed beginning and end rapidly and be supplied to robot upper layer, the core of RRT
Advantage is that the time is extremely short, is suitable for use in embedded device, solves the time-consuming very long pain spot of legacy paths searching algorithm.
In addition, the accuracy of map of the grating map is more much higher than visual information, position error also has very big promotion；
Raster symbol-base amount can be small, and operation time is short much for embedded device；Map memory space wants small, can in equipment end or
Person cloud records more historical maps or atlases, saves flow when transmitting map.So the grating map based on environment, Ke Yigeng
Efficiently and accurately establish RRT tree.
The grating map can be the planar grid map of laser.
In one embodiment of method for searching path for mobile robot of the invention, in step S3, to the RRT tree into
Row search, trial obtain the paths in the RRT tree by the starting point to the end, comprising:
Step S31 successively searches for each vertex by side connection from the off,
Step S32, if current search stops search to the vertex comprising terminal；
Step S33 continues recursion search and all vertex searched if not including the vertex of terminal
By other vertex of side connection, and so on until traversing complete RRT tree or searching the vertex comprising terminal.
Here, as shown in Fig. 2, being carried out in a manner of the RRT tree construction from the off after RRT tree generates
Traversal search successively searches for each vertex by side connection from the off, if current search is to including terminal
Vertex then stops search, if not including terminal, continues recursion search with all vertex searched and passes through side
Other vertex of connection, and so on until traversing complete RRT tree or searching the vertex comprising terminal, so as to fast
Speed obtains the paths in the RRT tree by the starting point to the end.
In one embodiment of method for searching path for mobile robot of the invention, step S2 obtains road to be searched
The beginning and end of diameter, is based on the beginning and end, and trial establishes RRT in the walkable region in the grating map
Tree, comprising:
Step S211, using preset step-length as distance, generates one in the walkable region centered on the starting point at random
Line segment cancels the line segment if the line segment encounters the barrier region, if the line segment does not encounter the barrier area
Domain, then line segment generates successfully, which is left to the side of RRT tree newly grown, one of vertex on the side of the new growth
For the starting point, another vertex is current newly-generated vertex；
Step S212, using current newly-generated vertex as starting point, centered on the starting point, with preset step-length be away from
From generating a line segment at random in the walkable region, if the line segment encounters the barrier region, cancel the line
Section, if the line segment does not encounter the barrier region, line segment is generated successfully, which is left to the new growth of RRT tree
Side, one of vertex on the side of the new growth is the starting point, another vertex is current newly-generated vertex；
Step S212 is repeated, until the current newly-generated vertex of the RRT tree is close to the terminal, then the RRT
Tree grows successfully, current newly-generated vertex and the terminal is connected into line segment, and the line segment is left to the new life of RRT tree
Long side；Alternatively, until the side density of the RRT tree reaches preset threshold, and the current newly-generated vertex of the RRT tree
Not close to the terminal, then the RRT tree growth failure.
Here, using a fixed step size as distance (step-length is controllable), generating a line segment at random, such as centered on starting point
The fruit line segment is encountered barrier and is then cancelled, and success is generated if clear in line segment.And so on it is equivalent to one constantly
The random tree of growth.Until the specific condition of convergence: comparing if any a line segment (branch) close to target point, then the branch and mesh
Punctuate is connected, or the density of branch of tree is reached a certain level and stopped growing and none line segment (branch) is close to target
Point, growth failure.Every section of line segment (side) is used as a branch in Fig. 1, finally has the multiple line segments from origin-to-destination
Line be then final RRT tree, so as to quickly establish subsequent searchable original path.
In one embodiment of method for searching path for mobile robot of the invention, step S2 obtains road to be searched
The beginning and end of diameter, is based on the beginning and end, and trial establishes RRT in the walkable region in the grating map
Tree, comprising:
Step S221, using preset step-length as distance, generates one in the walkable region centered on the starting point at random
Line segment cancels the line segment if the line segment encounters the barrier region, if the line segment does not encounter the barrier area
Domain, then line segment generates successfully, which is left to the side of the first RRT tree newly grown, the side of the new growth one of them
Vertex is the starting point, another vertex is the current first newly-generated vertex；Meanwhile centered on the terminal, with default
Step-length is distance, generates a line segment at random in the walkable region and takes if the line segment encounters the barrier region
Disappear the line segment, if the line segment does not encounter the barrier region, line segment is generated successfully, which is left the 2nd RRT
The side of tree newly grown, one of vertex on the side of the new growth are the terminal, another vertex is current second newborn
At vertex；
Step S222, with the current first newly-generated vertex for the first starting point, centered on first starting point, with
Preset step-length is distance, generates a line segment at random in the walkable region, if the line segment encounters the barrier region,
Then cancel the line segment, if the line segment does not encounter the barrier region, line segment is generated successfully, which is left first
The side that the first of RRT tree newly grows, one of vertex on first side newly grown are first starting point, another top
Point is the current first newly-generated vertex；Meanwhile it being opened with the current second newly-generated vertex for the second starting point with described second
Centered on initial point, using preset step-length as distance, a line segment is generated at random in the walkable region, if the line segment encounters institute
Barrier region is stated, then cancels the line segment, if the line segment does not encounter the barrier region, line segment is generated successfully, by this
Line segment is left the second side newly grown of the 2nd RRT tree, and one of vertex on second side newly grown is described second
Starting point, another vertex are the current second newly-generated vertex.
Step S222 is repeated, until the first RRT tree and the 2nd RRT tree have the vertex of intersection, then the RRT tree grows
Success, is left the RRT tree for the first RRT tree and the 2nd RRT tree；Alternatively, until the first RRT tree and/or
The side density of two RRT trees reaches preset threshold, and the first RRT tree and the 2nd RRT do not set the vertex of intersection, then described
The growth failure of RRT tree.
Here, carrying out the growth of two-way RRT tree respectively centered on beginning and end, two trees are generated, are set until two
There is intersection then to stop growing, the density of if tree is greater than certain value and two no intersection points of tree, then it is assumed that can not find out one
Path simultaneously stops growing, and can more efficiently obtain complete RRT tree in this way.
In one embodiment of method for searching path for mobile robot of the invention, in step S3, to the RRT tree into
Before row search, further includes:
If the pinch on the side of two connections is greater than preset threshold in RRT tree generated, wherein a line has difference
There are vertex E and F, which has vertex F and G respectively, and F is the public vertex on two sides,
Local optimum path between vertex E and G then is found with A* algorithm, and the local optimum path is left described
Side in RRT tree, meanwhile, two sides that the pinch is greater than preset threshold are removed in the RRT tree.
Here, for the line (side) between two vertex, it is considered that be linear path, when the angle of two straight lines
When comparing sharp, then illustrate that path corner is excessive, then need to do smoothing processing to path, this two sides can be ignored
Public vertex, and finding local optimum path from newly using A* algorithm between former and later two vertex, as being corrected in the RRT tree
Side afterwards, so that subsequent can be according to revised RRT tree with searching the path more having.
Specifically, following table compares for the efficiency of the method for the present invention and traditional shortest path first:
In obtained path effects, method of the invention is in the result of to acquisite approachs, in table
800unit, 836unit and 617unit, 742unit of existing method are relatively, especially of the invention after smoothing processing
Scheme, obtained 738unit and 758unit be fairly close with 617unit, 742unit of existing method；
Moreover, as can be seen from the above table, method of the invention on the time of to acquisite approachs, as 4.525 seconds in table,
2.862 seconds, the significantly shorter than time of the 354 of existing method second, 667 seconds and 788 seconds, to achieve the effect that acquisite approachs and existing
There is scheme substantially close to but search time greatly shortens but effect.
According to another aspect of the present invention, a kind of route searching equipment for mobile robot, the equipment are additionally provided
Include:
First device determines the avoiding obstacles region in the grating map for obtaining the grating map of environment
Walkable region；
Second device is based on the beginning and end, attempts in institute for obtaining the beginning and end in path to be searched
It states and establishes RRT tree in the walkable region in grating map, wherein the RRT tree includes sequentially connected multiple summits, each edge
Two vertex are connected, each vertex is located at the walkable region, and each vertex contains the coordinate information of the grating map,
So two of them vertex is respectively beginning and end in vertex；
3rd device, for judging whether the RRT tree generates success, if success, scans for the RRT tree, taste
Examination obtains the paths in the RRT tree by the starting point to the end.
Further, in above equipment, the 3rd device, for successively search for from the off by side connection
Each vertex, if current search stops search to the vertex comprising terminal；If not including the vertex of terminal, after
Continuous recursion search passes through other vertex of side connection with all vertex searched, and so on until traversal complete
RRT tree searches the vertex comprising terminal.
Further, in above equipment, the second device, comprising:
211st device is used for centered on the starting point, random in the walkable region using preset step-length as distance
A line segment is generated, if the line segment encounters the barrier region, cancels the line segment, if the line segment does not encounter the barrier
Hindering object area, then line segment generates successfully, which is left to the side of RRT tree newly grown, wherein the one of the side of the new growth
A vertex is the starting point, another vertex is current newly-generated vertex；
212nd device, for centered on the starting point, being walked with default using current newly-generated vertex as starting point
A length of distance generates a line segment in the walkable region at random and cancels if the line segment encounters the barrier region
The line segment, if the line segment does not encounter the barrier region, line segment is generated successfully, which is left the new of RRT tree
The side of growth, one of vertex on the side of the new growth are the starting point, another vertex is current newly-generated vertex；
The 212nd device is repeated, until the current newly-generated vertex of the RRT tree is close to the terminal,
The 213rd device is then executed, is grown successfully for feeding back the RRT tree, current newly-generated vertex is connected into the terminal
Line segment, and the line segment is left to the side of RRT tree newly grown；Alternatively, until the side density of the RRT tree reaches default threshold
Value, and the current newly-generated vertex of the RRT tree not close to the terminal, then the 223rd device of execution, described in feeding back
The growth failure of RRT tree.
Further, in above equipment, the second device, comprising:
221st device is used for centered on the starting point, random in the walkable region using preset step-length as distance
A line segment is generated, if the line segment encounters the barrier region, cancels the line segment, if the line segment does not encounter the barrier
Hinder object area, then line segment generates successfully, which is left to the side of the first RRT tree newly grown, the side of the new growth its
In vertex be the starting point, another vertex is the current first newly-generated vertex；Meanwhile centered on the terminal,
Using preset step-length as distance, a line segment is generated at random in the walkable region, if the line segment encounters the barrier area
The line segment is then cancelled in domain, if the line segment does not encounter the barrier region, line segment generates successfully, which is left
The side of 2nd RRT tree newly grown, one of vertex on the side of the new growth are the terminal, another vertex is current the
Two newly-generated vertex；
222nd device, used in, for the first starting point, being with first starting point with the current first newly-generated vertex
The heart generates a line segment in the walkable region, if the line segment encounters the barrier using preset step-length as distance at random
The line segment is then cancelled in region, if the line segment does not encounter the barrier region, line segment generates successfully, which is retained
For the first side newly grown of the first RRT tree, one of vertex on first side newly grown is first starting point, separately
One vertex is the current first newly-generated vertex；Meanwhile with the current second newly-generated vertex for the second starting point, with described
Centered on second starting point, using preset step-length as distance, a line segment is generated at random in the walkable region, if the line segment
Encounter the barrier region, then cancel the line segment, if the line segment does not encounter the barrier region, line segment generate at
The line segment is left the second side newly grown of the 2nd RRT tree by function, and one of vertex on second side newly grown is institute
The second starting point is stated, another vertex is the current second newly-generated vertex.
The 222nd is repeated, until the first RRT tree and the 2nd RRT tree have the vertex of intersection, then executes the 223rd dress
It sets, is grown successfully for feeding back the RRT tree, the first RRT tree and the 2nd RRT tree are left the RRT tree；Alternatively,
Until the side density of the first RRT tree and/or the 2nd RRT tree reaches preset threshold, and the first RRT tree and the 2nd RRT
The vertex of intersection is not set, then executes the 223rd device, for feeding back the RRT tree growth failure.
Further, in above equipment, the 3rd device, if being also used to the side of two connections in RRT tree generated
Pinch be greater than preset threshold, wherein a line has respectively and has vertex E and F, which has vertex F and G, F respectively
For the public vertex on two sides, then local optimum path between vertex E and G is found with A* algorithm, and by the local optimum path
It is left the side in the RRT tree, meanwhile, two sides that the pinch is greater than preset threshold are removed in the RRT tree.
The detailed content of each apparatus embodiments of the invention, for details, reference can be made to the corresponding parts of each method embodiment, here,
It repeats no more.
Obviously, those skilled in the art can carry out various modification and variations without departing from the essence of the application to the application
Mind and range.In this way, if these modifications and variations of the application belong to the range of the claim of this application and its equivalent technologies
Within, then the application is also intended to include these modifications and variations.
It should be noted that the present invention can be carried out in the assembly of software and/or software and hardware, for example, can adopt
With specific integrated circuit (ASIC), general purpose computer or any other realized similar to hardware device.In one embodiment
In, software program of the invention can be executed to implement the above steps or functions by processor.Similarly, of the invention
Software program (including relevant data structure) can be stored in computer readable recording medium, for example, RAM memory,
Magnetic or optical driver or floppy disc and similar devices.In addition, some of the steps or functions of the present invention may be implemented in hardware, example
Such as, as the circuit cooperated with processor thereby executing each step or function.
In addition, a part of the invention can be applied to computer program product, such as computer program instructions, when its quilt
When computer executes, by the operation of the computer, it can call or provide according to the method for the present invention and/or technical solution.
And the program instruction of method of the invention is called, it is possibly stored in fixed or moveable recording medium, and/or pass through
Broadcast or the data flow in other signal-bearing mediums and transmitted, and/or be stored according to described program instruction operation
In the working storage of computer equipment.Here, according to one embodiment of present invention including a device, which includes using
Memory in storage computer program instructions and processor for executing program instructions, wherein when the computer program refers to
When enabling by processor execution, method and/or skill of the device operation based on aforementioned multiple embodiments according to the present invention are triggered
Art scheme.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included in the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.This
Outside, it is clear that one word of " comprising " does not exclude other units or steps, and odd number is not excluded for plural number.That states in device claim is multiple
Unit or device can also be implemented through software or hardware by a unit or device.The first, the second equal words are used to table
Show title, and does not indicate any particular order.
Claims (10)
1. a kind of method for searching path for mobile robot, wherein this method comprises:
The grating map for obtaining environment, determines the walkable region in the avoiding obstacles region in the grating map；
Obtain the beginning and end in path to be searched, be based on the beginning and end, attempt in the grating map can
RRT tree is established in travel region, wherein the RRT tree includes sequentially connected multiple summits, and each edge connects two vertex, often
A vertex is located at the walkable region, and each vertex contains the coordinate information of the grating map, so in vertex wherein
Two vertex are respectively beginning and end；
Judge whether the RRT tree generates success, if success, scans for the RRT tree, trial is obtained in the RRT tree
By a paths of the starting point to the end.
2. according to the method described in claim 1, wherein, scanned for the RRT tree, trial obtain in the RRT tree by
One paths of the starting point to the end, comprising:
Each vertex by side connection from the off is successively searched for,
If current search stops search to the vertex comprising terminal；
If not including the vertex of terminal, continues recursion search with all vertex searched and pass through side connection
Other vertex, and so on until traversing complete RRT tree or searching the vertex comprising terminal.
3. being based on the starting point according to the method described in claim 1, wherein, obtaining the beginning and end in path to be searched
And RRT tree is established in terminal, trial in the walkable region in the grating map, comprising:
Step S211, using preset step-length as distance, is given birth into a line at random centered on the starting point in the walkable region
Section, if the line segment encounters the barrier region, cancels the line segment, if the line segment does not encounter the barrier region,
Then line segment generates successfully, which is left to the side of RRT tree newly grown, and one of vertex on the side of the new growth is institute
Starting point is stated, another vertex is current newly-generated vertex；
Step S212, using current newly-generated vertex as starting point, centered on the starting point, using preset step-length as distance,
A line segment is generated at random in the walkable region, if the line segment encounters the barrier region, cancels the line segment, such as
The fruit line segment does not encounter the barrier region, then line segment generates successfully, which is left to the side of RRT tree newly grown,
One of vertex on the side of the new growth is the starting point, another vertex is current newly-generated vertex；
Step S212 is repeated, until the current newly-generated vertex of the RRT tree is close to the terminal, then the RRT tree gives birth to
It grows successfully, current newly-generated vertex and the terminal is connected into line segment, and the line segment is left newly growing for RRT tree
Side；Alternatively, until the side density of the RRT tree reaches preset threshold, and the current newly-generated vertex of the RRT tree does not connect
The nearly terminal, then the RRT tree growth failure.
4. being based on the starting point according to the method described in claim 1, wherein, obtaining the beginning and end in path to be searched
And RRT tree is established in terminal, trial in the walkable region in the grating map, comprising:
Step S221, using preset step-length as distance, is given birth into a line at random centered on the starting point in the walkable region
Section, if the line segment encounters the barrier region, cancels the line segment, if the line segment does not encounter the barrier region,
Then line segment generates successfully, which is left to the side of the first RRT tree newly grown, one of vertex on the side of the new growth
For the starting point, another vertex is the current first newly-generated vertex；Meanwhile centered on the terminal, with preset step-length
For distance, a line segment is generated at random in the walkable region, if the line segment encounters the barrier region, cancelling should
Line segment, if the line segment does not encounter the barrier region, line segment is generated successfully, which is left the 2nd RRT tree
The side newly grown, one of vertex on the side of the new growth are the terminal, another vertex is current second newly-generated
Vertex；
Step S222, with the current first newly-generated vertex for the first starting point, centered on first starting point, with default
Step-length is distance, generates a line segment at random in the walkable region and takes if the line segment encounters the barrier region
Disappear the line segment, if the line segment does not encounter the barrier region, line segment is generated successfully, which is left the first RRT
The first side newly grown of tree, one of vertex on first side newly grown are first starting point, another vertex
For the current first newly-generated vertex；Meanwhile with the current second newly-generated vertex for the second starting point, start with described second
Centered on point, using preset step-length as distance, generate a line segment at random in the walkable region, if the line segment encounter it is described
Barrier region then cancels the line segment, if the line segment does not encounter the barrier region, line segment is generated successfully, by the line
Section is left the second side newly grown of the 2nd RRT tree, and one of vertex on second side newly grown is opened for described second
Initial point, another vertex are the current second newly-generated vertex.
Step S222 is repeated, until the first RRT tree and the 2nd RRT tree have the vertex of intersection, then the RRT tree grows into
The first RRT tree and the 2nd RRT tree are left the RRT tree by function；Alternatively, until the first RRT tree and/or second
The side density of RRT tree reaches preset threshold, and the first RRT tree and the 2nd RRT do not set the vertex of intersection, then described
The growth failure of RRT tree.
5. method according to any one of claims 1 to 4, wherein before being scanned for the RRT tree, further includes:
If the pinch on the side of two connections is greater than preset threshold in RRT tree generated, wherein a line has and has top respectively
There are vertex F and G in point E and F, the Article 2 side respectively, and F is the public vertex on two sides,
Local optimum path between vertex E and G then is found with A* algorithm, and the local optimum path is left the RRT tree
In side, meanwhile, removed in the RRT tree pinch be greater than preset threshold two sides.
6. a kind of route searching equipment for mobile robot, wherein the equipment includes:
First device determines the feasible of the avoiding obstacles region in the grating map for obtaining the grating map of environment
Walk region；
Second device is based on the beginning and end, attempts in the grid for obtaining the beginning and end in path to be searched
RRT tree is established in walkable region in lattice map, wherein the RRT tree includes sequentially connected multiple summits, each edge connection
Two vertex, each vertex are located at the walkable region, and each vertex contains the coordinate information of the grating map, so
Two of them vertex is respectively beginning and end in vertex；
3rd device, for judging whether the RRT tree generates success, if success, scans for the RRT tree, attempt
Into the RRT tree by a paths of the starting point to the end.
7. equipment according to claim 6, wherein the 3rd device, for successively searching for passing through from the off
Each vertex of side connection, if current search stops search to the vertex comprising terminal；If not including the top of terminal
Point, then continue recursion search with all vertex searched by other vertex of side connection, and so on until time
It goes through complete RRT tree or searches the vertex comprising terminal.
8. equipment according to claim 6, wherein the second device, comprising:
211st device, for using preset step-length as distance, being generated at random in the walkable region centered on the starting point
One line segment cancels the line segment if the line segment encounters the barrier region, if the line segment does not encounter the barrier
Region, then line segment generates successfully, which is left to the side of RRT tree newly grown, one of top on the side of the new growth
Point is the starting point, another vertex is current newly-generated vertex；
212nd device, for centered on the starting point, being with preset step-length using current newly-generated vertex as starting point
Distance generates a line segment in the walkable region at random, if the line segment encounters the barrier region, cancels the line
Section, if the line segment does not encounter the barrier region, line segment is generated successfully, which is left to the new growth of RRT tree
Side, one of vertex on the side of the new growth is the starting point, another vertex is current newly-generated vertex；
The 212nd device is repeated, until the current newly-generated vertex of the RRT tree is close to the terminal, is then held
The 213rd device of row grows successfully for feeding back the RRT tree, current newly-generated vertex and the terminal is connected into line segment,
And the line segment is left to the side of RRT tree newly grown；Alternatively, until the side density of the RRT tree reaches preset threshold, and institute
State the current newly-generated vertex of RRT tree not close to the terminal, then execute the 223rd device, given birth to for feeding back the RRT tree
Long failure.
9. equipment according to claim 6, wherein the second device, comprising:
221st device, for using preset step-length as distance, being generated at random in the walkable region centered on the starting point
One line segment cancels the line segment if the line segment encounters the barrier region, if the line segment does not encounter the barrier
Region, then line segment generates successfully, which is left to the side of the first RRT tree newly grown, and wherein the one of the side of the new growth
A vertex is the starting point, another vertex is the current first newly-generated vertex；Meanwhile centered on the terminal, with pre-
If step-length is distance, a line segment is generated at random in the walkable region, if the line segment encounters the barrier region,
Cancel the line segment, if the line segment does not encounter the barrier region, line segment is generated successfully, which is left second
The side of RRT tree newly grown, one of vertex on the side of the new growth are the terminal, another vertex is current second new
The vertex of generation；
222nd device, for the current first newly-generated vertex be the first starting point, centered on first starting point,
Using preset step-length as distance, a line segment is generated at random in the walkable region, if the line segment encounters the barrier area
The line segment is then cancelled in domain, if the line segment does not encounter the barrier region, line segment generates successfully, which is left
The first side newly grown of first RRT tree, one of vertex on first side newly grown is first starting point, another
A vertex is the current first newly-generated vertex；Meanwhile with the current second newly-generated vertex for the second starting point, with described the
Centered on two starting points, using preset step-length as distance, a line segment is generated at random in the walkable region, if the line segment touches
To the barrier region, then cancel the line segment, if the line segment does not encounter the barrier region, line segment is generated successfully,
The line segment is left to the second side newly grown of the 2nd RRT tree, one of vertex on second side newly grown is described
Second starting point, another vertex are the current second newly-generated vertex.
The 222nd is repeated, until the first RRT tree and the 2nd RRT tree have the vertex of intersection, then the 223rd device is executed, uses
It is grown successfully in feeding back the RRT tree, the first RRT tree and the 2nd RRT tree is left the RRT tree；Alternatively, until institute
The side density for stating the first RRT tree and/or the 2nd RRT tree reaches preset threshold, and the first RRT tree and the 2nd RRT are not set
There is the vertex of intersection, then execute the 223rd device, for feeding back the RRT tree growth failure.
10. according to the described in any item equipment of claim 6~9, wherein the 3rd device, if being also used to RRT generated
The pinch on the side of two connections is greater than preset threshold in tree, wherein a line has respectively and has vertex E and F, the Article 2 side
There are vertex F and G respectively, F is the public vertex on two sides, then local optimum path between vertex E and G is found with A* algorithm, and
The local optimum path is left the side in the RRT tree, meanwhile, the pinch is removed in the RRT tree is greater than default threshold
Two sides of value.
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