JP3198076B2 - Path creation method for mobile robots - Google Patents
Path creation method for mobile robotsInfo
- Publication number
- JP3198076B2 JP3198076B2 JP15311497A JP15311497A JP3198076B2 JP 3198076 B2 JP3198076 B2 JP 3198076B2 JP 15311497 A JP15311497 A JP 15311497A JP 15311497 A JP15311497 A JP 15311497A JP 3198076 B2 JP3198076 B2 JP 3198076B2
- Authority
- JP
- Japan
- Prior art keywords
- route
- line
- subgoal
- candidate
- start point
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
- 238000000034 method Methods 0.000 title claims description 38
- 230000002265 prevention Effects 0.000 claims description 2
- 238000012217 deletion Methods 0.000 claims 1
- 230000037430 deletion Effects 0.000 claims 1
- 238000004422 calculation algorithm Methods 0.000 description 10
- 238000005457 optimization Methods 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000004590 computer program Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0217—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with energy consumption, time reduction or distance reduction criteria
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、自律移動ロボット
の移動経路を作成する技術に関し、特に行動環境内の地
図情報を基に、簡単なアルゴリズムの繰り返しにより、
ロボットの現在位置から到達すべき位置までの最適経路
を、短時間で作成する方法に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a technique for creating a movement route of an autonomous mobile robot, and more particularly, to a technique for repeating a simple algorithm based on map information in an action environment.
The present invention relates to a method for creating an optimum route from a current position of a robot to a position to be reached in a short time.
【０００２】[0002]
【従来の技術】本発明は、本発明者らが先に提案した特
開平４−４２０１４号「移動体の自己位置検出方法と装
置」（特許第２５３１９９９号）に関連する技術であ
る。経路探索法として従来から多くの提案がなされてお
り、例えば、障害物を多角形近似し、最短距離がその頂
点を通ることから、移動経路内にある障害物、壁等の頂
点を結ぶ経路の全ての組み合わせについて、グラフ理論
的探索手法で最短経路を見つける方法がある。2. Description of the Related Art The present invention relates to a technique related to Japanese Patent Application Laid-Open No. 4-42014, entitled "Method and Apparatus for Detecting a Self-Position of a Moving Object" (Japanese Patent No. 2531999) proposed by the present inventors. Conventionally, many proposals have been made as a route search method.For example, an obstacle is approximated by a polygon, and the shortest distance passes through the vertex. For all combinations, there is a method of finding the shortest path by a graph theoretical search method.
【０００３】この方法は確実で優れた方法であるが、実
際の移動環境では１フロアをとってみても机・棚・壁な
ど数百の頂点があり、その計算量も指数関数的に増大す
る。そのため、超グラフを用いた階層化などを行って高
速化を図る試みや、障害物のポテンシャル場における最
小ポテンシャル経路を見つける方法、数理計画法、木構
造に基づく階層化された記述法などが研究されてきた。
しかし、これらはいずれも最適経路を求める論理的手法
の域を出ないものであり、計算に長時間を要したり、移
動ロボットに搭載できないような大型のコンピュータを
必要とする等、実時間性や実用性に乏しく、実際の移動
ロボットに応用できるようなシステムは実現されていな
い。This method is reliable and excellent, but in an actual moving environment, even if one floor is taken, there are hundreds of vertices such as desks, shelves and walls, and the amount of calculation increases exponentially. . For this reason, research has been carried out on attempts to speed up by performing layering using hypergraphs, methods of finding the minimum potential path in the potential field of obstacles, mathematical programming, hierarchical description methods based on tree structures, etc. It has been.
However, none of these methods is beyond the scope of logical methods for finding the optimal route, and requires a long time for calculations and a large computer that cannot be mounted on a mobile robot. And a system that is poor in practicality and can be applied to an actual mobile robot has not been realized.
【０００４】[0004]
【発明が解決しようとする課題】本発明は、自律移動ロ
ボットの移動経路を作成するにあたり、ロボットに搭載
可能な小型のコンピュータと単純化されたアルゴリズム
を用いて短時間のうちに移動経路を生成し、ロボットを
所定の始点から終点へと迅速に移動させるための経路作
成方法を提供することを目的としている。SUMMARY OF THE INVENTION According to the present invention, when creating a movement path of an autonomous mobile robot, the movement path is generated in a short time by using a small computer which can be mounted on the robot and a simplified algorithm. It is another object of the present invention to provide a route creation method for quickly moving a robot from a predetermined start point to an end point.
【０００５】[0005]
【課題を解決するための手段】本発明による移動ロボッ
トの経路作成方法は、ある程度整備された環境内での移
動を前提とし、事前にその地図情報が必要である。そこ
で、移動ロボットの通過の障害となりうるもの（壁・柱
・什器等）の輪郭を、直線による折れ線で近似表現した
環境地図を作成する。折れ線には前向き（右回り又は左
回り）に順番と方向付けをしておく。The route creation method for a mobile robot according to the present invention is premised on movement in an environment that has been maintained to some extent, and its map information is required in advance. Therefore, an environment map is created in which contours of objects (walls, pillars, furniture, and the like) that may obstruct the passage of the mobile robot are approximated by polygonal straight lines. The polygonal lines should be ordered and oriented forward (clockwise or counterclockwise).
【０００６】前述の地図上におけるロボットの始点と終
点を直線で結んだ経路を初めの経路候補とする。環境地
図における障害物を表す連続した線分を、地図上の適当
な開始位置からたどっていき、経路候補と交差した点の
有無を判別する。複数の交点があった場合は、障害物を
表す線分のうち始点に最も近い線分を選んで、その線分
の延長上で数学的微小量εだけ離れた位置にサブゴール
を生成し、経路候補を途中にサブゴールを入れたものに
更新する。この簡単なアルゴリズムを繰り返し行い、順
次経路候補を更新していくことにより、最終的に障害物
を回避した経路を作成する。A route connecting the start point and the end point of the robot with a straight line on the above-mentioned map is defined as a first route candidate. A continuous line segment representing an obstacle in the environment map is traced from an appropriate start position on the map, and it is determined whether or not there is an intersection with a route candidate. If there are multiple intersections, select the line segment closest to the start point from the line segments representing the obstacles, generate a subgoal at a position separated by a mathematical small amount ε on the extension of the line segment, and Update the candidate with a subgoal in the middle. By repeating this simple algorithm and sequentially updating the route candidates, a route that avoids obstacles is finally created.
【０００７】環境の形状により、あるいは右回りと左回
りとにより、複数通りの経路候補が得られる場合は、こ
れらの経路候補について最適化の処理を行い、最短なも
のを最終的な経路とする。If a plurality of route candidates are obtained depending on the shape of the environment, or clockwise and counterclockwise, optimization processing is performed on these route candidates, and the shortest route is determined as the final route. .
【０００８】本発明による基本的な経路作成アルゴリズ
ムは、次のような工程から成る。 (a) 始点と終点を直線で結んで経路候補とする。 (b) 前記境界線の各線分を先頭から順番に前記経路候補
と交差していないかチェックし、前記経路候補の直線が
前記境界線の線分と交差する位置のうち最も始点側に近
い線分を直近交差線分とし、 (c) 当該直近交差線分の前方側端縁から所定の微小距離
だけ前方にサブゴールを設定する。[0008] The basic route creation algorithm according to the present invention comprises the following steps. (a) The start point and the end point are connected by a straight line to be a route candidate. (b) checking whether each line segment of the boundary line intersects with the route candidate in order from the top, and the line closest to the starting point among the positions where the straight line of the route candidate intersects with the line segment of the boundary line (C) A subgoal is set forward by a predetermined minute distance from the front edge of the nearest intersection line.
【０００９】(d) 始点から新たなサブゴールを経て終点
に到る新たな経路によって経路候補を更新する。 (e) 新たな経路候補と境界線とが交差する位置のうち最
も始点側に近い線分を次の直近交差線分とする。 (f) 以下前記(c)(d)(e) を繰り返して経路候補を更新
し、新たな経路候補と境界線とが交差しなくなるまで繰
り返す。(D) The route candidate is updated with a new route from the start point to the end point via a new subgoal. (e) The line segment closest to the start point side among the positions where the new route candidate and the boundary line intersect is set as the next closest intersection line segment. (f) Thereafter, the above (c), (d), and (e) are repeated to update the route candidate, and the process is repeated until the new route candidate and the boundary line no longer intersect.
【００１０】この経路作成工程において、境界線の１本
の線分が経路候補の直線２本と同時に交差するような状
態が発生した場合は、これら２本の直線上に共通するサ
ブゴールを削除して飛ばした経路を新たな経路候補とす
る。[0010] In this route creation step, if a state occurs in which one line segment of the boundary line intersects two straight line candidates simultaneously, the subgoal common to these two straight lines is deleted. The skipped route is set as a new route candidate.
【００１１】また、経路候補が確定した後で、作成され
た移動経路につき始点からサブゴールと終点に向かって
サブゴールを１つずつ飛ばしながら直線で結び、この直
線が境界線と交差しない場合は飛ばしたサブゴールを消
去し、境界線と交差する場合は残ったサブゴールを１つ
ずつ前進しながら次のサブゴールを１つずつ飛ばして直
線で結び、境界線と交差しない場合は飛ばしたサブゴー
ルを消去することを繰り返して最終的な移動経路とすれ
ば、経路を短縮することができる。After the route candidate is determined, the created moving route is connected by a straight line while skipping the subgoals one by one from the starting point to the subgoal and ending point. If the straight line does not intersect with the boundary line, the moving route is skipped. Delete subgoals. If they cross the boundary, skip the next subgoal one by one while moving forward through the remaining subgoals one by one and connect them with a straight line. If they do not cross the boundary, delete the skipped subgoal. The route can be shortened by repeatedly setting the final travel route.
【００１２】さらにまた、壁面側及び島側の折れ線の線
分にそれぞれ右回りと左回りの２通りの順序付けを行
い、右回りの最終的な移動経路と左回りの最終的な移動
経路とを比較して短い方を最終的な移動経路とすれば、
最短の移動経路が得られることになる。[0012] Furthermore, two kinds of order, clockwise and counterclockwise, are respectively assigned to the line segments of the polygonal lines on the wall surface side and the island side, and a final clockwise moving path and a final clockwise moving path are determined. If the shorter one is the final travel route,
The shortest travel route will be obtained.
【００１３】本発明による経路作成方法は、経路候補と
障害物を表す線分との交差判別を行い、交点が存在した
場合に線分の延長線上にサブゴールを生成するという簡
単なアルゴリズムの繰り返しであるから、経路生成時間
の大幅な短縮が可能となり、ロボットに搭載可能な小型
のコンピュータによって処理することができる。従っ
て、移動ロボットが移動中において到達目標位置の変更
指示があった場合にもリアルタイムに応答することが可
能となる。以下、本発明による好適な実施形態を添付図
面を参照しながら説明する。The route creation method according to the present invention performs an intersection determination between a route candidate and a line segment representing an obstacle, and generates a subgoal on an extension of the line segment when an intersection exists, by repeating a simple algorithm. Therefore, the route generation time can be greatly reduced, and the processing can be performed by a small computer that can be mounted on the robot. Therefore, it is possible to respond in real time even when an instruction to change the target position is given while the mobile robot is moving. Hereinafter, preferred embodiments according to the present invention will be described with reference to the accompanying drawings.
【００１４】[0014]
【発明の実施の形態】本発明で使用する地図データの例
を図１に示す。図１に示すような室内の場合、閉じた１
つの閉空間としてＸＹ座標系を定義する。室内には突出
壁、柱、什器等の障害物が壁面１０に接近した状態又は
壁面から離れた島１２，１４の状態で存在している。こ
れらを折れ線近似し、一筆書きの要領で折れ点のＸ，Ｙ
座標を列挙したものを地図データとする。FIG. 1 shows an example of map data used in the present invention. In the case of a room as shown in FIG.
An XY coordinate system is defined as one closed space. In the room, obstacles such as protruding walls, columns, furniture, and the like exist in a state of approaching the wall surface 10 or in a state of islands 12 and 14 away from the wall surface. These are approximated by polygonal lines, and the X, Y
A list of coordinates is defined as map data.
【００１５】図１のデータは例えば Ｐ0,Ｐ1,Ｐ2,Ｐ3,
Ｐ4,・・・・・Ｐi,・・・・・Ｐ0,０，Ｕ0,Ｕ1,Ｕ2,・
・・Ｕ0,０，Ｕ6,Ｕ7,Ｕ8,・・・・・Ｕ6,０ と表現さ
れ、０は壁面又は島のデータの区切りを表す。The data in FIG. 1 is, for example, P 0, P 1, P 2, P 3
P 4, ····· P i, ····· P 0, 0, U 0, U 1, U 2, ·
·· U 0, 0, U 6 , U 7, U 8, is represented as ····· U 6, 0, 0 represents a delimiter of data wall or islands.
【００１６】本発明における基本的な経路作成アルゴリ
ズムを、障害物の形状がＩ型である図２を参照しながら
説明する。最初に、障害物の端縁にロボットの幅の２分
の１と衝突防止隙間（例えば２０ｍｍ）とを加えて端縁
を拡大し、折れ線近似させたものを境界線と設定する。
さらに、各折れ線の線分に前向きの順序付けＡＢ，Ｂ
Ｃ，ＣＤ，ＤＥ，ＥＦ，・・・を行って壁面側が一筆書
きとなる境界線データを作成する。A basic route creation algorithm according to the present invention will be described with reference to FIG. 2 in which the shape of an obstacle is an I type. First, a half of the width of the robot and a collision prevention gap (for example, 20 mm) are added to the edge of the obstacle to enlarge the edge, and an approximation of a broken line is set as a boundary line.
Further, forward ordering AB, B to each line segment
By performing C, CD, DE, EF,..., Boundary line data in which the wall surface side is drawn with one stroke is created.
【００１７】まず、地図上の始点（スタート位置）と終
点（ゴール位置）を指示すると、最初の経路候補として
始点と終点を結んだ直線が生成される。ここで、壁面側
の境界線上の適当な開始位置から境界線が前述の経路候
補と交差していないかを、例えばＡ点からＡＢ，ＢＣ，
ＣＤ，・・・の順にチェックしていき、経路候補が境界
線と交差していた場合、サブゴールなるものを設定して
障害物を回避する経路を求める。すなわち、経路候補が
境界線の線分と交差する位置のうち最も始点側に近い線
分ＢＣを直近交差線分とし、この線分の前方側端縁から
所定の微小距離ε（例えば１０ｍｍ）だけ前方に第１番
目のサブゴールＣ′を設定する。ここで経路候補を始点
−Ｃ′−終点に更新する。First, when a start point (start position) and an end point (goal position) on the map are designated, a straight line connecting the start point and the end point is generated as a first route candidate. Here, from an appropriate start position on the boundary line on the wall surface side, it is determined whether or not the boundary line intersects with the above-mentioned route candidate, for example, from point A to AB, BC,
.. Are checked in the order of CD,..., And if the route candidate crosses the boundary line, a subgoal is set to find a route that avoids an obstacle. In other words, the line segment BC closest to the start point among the positions where the route candidates intersect the line segment of the boundary line is set as the nearest intersection line segment, and is a predetermined minute distance ε (for example, 10 mm) from the front edge of this line segment. A first subgoal C 'is set ahead. Here, the route candidate is updated to the start point-C'-end point.
【００１８】次に、新たな経路候補が境界線と交差して
いないかを、ＣＤ，ＤＥ，ＥＦ，・・・の順にチェック
していくと、線分ＣＤと交差しているので、線分ＣＤを
直近交差線分とし、この線分の前方側端縁から所定の微
小距離だけ前方に第２番目のサブゴールＤ′を設定す
る。ここで経路候補を始点−Ｃ′−Ｄ′−終点に更新す
る。Next, it is checked in the order of CD, DE, EF,... Whether or not the new route candidate intersects the boundary line. The CD is defined as the nearest intersection line segment, and a second subgoal D 'is set ahead by a predetermined minute distance from the front edge of this line segment. Here, the route candidate is updated to the start point-C'-D'-end point.
【００１９】次に、新たな経路候補が境界線と交差して
いないかをチェックしていくと、交差していないことが
わかるので、経路作成工程を終了する。Next, when it is checked whether a new route candidate does not intersect with the boundary line, it is found that the new route candidate does not intersect, and the route creation process is terminated.
【００２０】次に、図３に示すような障害物の形状がＬ
型やＴ型の場合についての経路作成方法を説明する。図
３（ａ）において、最初の経路候補として始点と終点を
結んだ直線が生成される。前述したアルゴリズムに従
い、始点と終点を結ぶ直線に対して境界線と交差チェッ
クをＡＢ，ＢＣと行う過程で線分ＢＣと経路候補が交差
するため、図３（ｂ）に示すようにして、その直近交差
線分ＢＣの前方側端縁から所定の微小距離εだけ前方に
第１番目のサブゴールＣ′を設定する。ここで経路候補
を始点−Ｃ′−終点に更新する。Next, the shape of the obstacle as shown in FIG.
A path creation method for the case of the type and the T type will be described. In FIG. 3A, a straight line connecting the start point and the end point is generated as the first route candidate. According to the algorithm described above, the line segment BC intersects with the route candidate in the process of performing the intersection check with AB and BC with respect to the straight line connecting the start point and the end point. Therefore, as shown in FIG. A first subgoal C ′ is set a predetermined minute distance ε forward from the front edge of the nearest intersection line BC. Here, the route candidate is updated to the start point-C'-end point.
【００２１】図３（ｂ）において、ＣＤと経路候補の始
点−Ｃ′が交差するので、その間にサブゴールＤ′が追
加され、経路候補が始点−Ｄ′−Ｃ′−終点となる。図
３（ｃ）において、境界線ＤＥと経路候補のＤ′−Ｃ′
が交差するため、その間にサブゴールＥ′が追加され、
経路候補が始点−Ｄ′−Ｅ′−Ｃ′−終点となる。In FIG. 3B, since the start point -C 'of the path candidate intersects with the CD, a subgoal D' is added between them, and the path candidate becomes the start point -D'-C'-end point. In FIG. 3C, the boundary line DE and the route candidate D'-C '
Intersect, a subgoal E 'is added in the meantime,
The route candidate is the start point -D'-E'-C'-end point.
【００２２】図３（ｄ）において、境界線ＥＦと経路候
補のＥ′−Ｃ′が交差するため、その間にサブゴール
Ｆ′が追加され、経路候補が始点−Ｄ′−Ｅ′−Ｆ′−
Ｃ′−終点となる。図３（ｅ）において、境界線ＦＧと
経路候補のＦ′−Ｃ′が交差するため、その間にサブゴ
ールＧ′が追加され、経路候補が始点−Ｄ′−Ｅ′−
Ｆ′−Ｇ′−Ｃ′−終点となる。In FIG. 3D, since the boundary line EF and the route candidate E'-C 'intersect, a subgoal F' is added between them, and the route candidate becomes the starting point -D'-E'-F'-.
C'-end point. In FIG. 3 (e), since the boundary line FG and the route candidate F'-C 'intersect, a subgoal G' is added between them, and the route candidate becomes the starting point -D'-E'-.
F'-G'-C'-end point.
【００２３】図３（ｆ）において、境界線ＧＨと経路候
補は交差しないため、経路候補はそのままで変化しな
い。ただし、図３（ｆ）において、境界線ＨＩが経路候
補のＧ′−Ｃ′とＣ′−終点の２本と同時に交差するた
め、その間のサブゴールＣ′が削除され、経路候補は図
３（ｇ）に示すように始点−Ｄ′−Ｅ′−Ｆ′−Ｇ′−
終点となる。これを境界線分について一巡すれば実用上
の最短距離となっている。In FIG. 3F, since the boundary line GH does not intersect with the route candidate, the route candidate does not change as it is. However, in FIG. 3 (f), since the boundary line HI intersects two of the route candidates G'-C 'and C'-end point at the same time, the subgoal C' between them is deleted and the route candidate becomes the route candidate in FIG. As shown in g), the starting point -D'-E'-F'-G'-
It will be the end point. If this is made once for the boundary line, it is the shortest practical distance.
【００２４】図４は、障害物が壁面から分離した島４０
の状態で存在する閉鎖平面で、始点から終点まで経路を
作成する工程を表している。図４（ｂ）は島４０の境界
線を右回りに方向付けした場合のロボットの移動経路を
表し、図４（ｃ）は島４０の境界線を左回りに方向付け
した場合の移動経路を表している。理論的には壁面側に
ついても右回りと左回りの２通りの経路を想定すること
が可能である。FIG. 4 shows an island 40 in which an obstacle is separated from a wall surface.
Represents a process of creating a path from the start point to the end point on a closed plane existing in the state of FIG. FIG. 4B shows the movement path of the robot when the boundary line of the island 40 is oriented clockwise, and FIG. 4C shows the movement path when the boundary line of the island 40 is oriented counterclockwise. Represents. Theoretically, it is possible to assume two routes, clockwise and counterclockwise, on the wall surface side.
【００２５】図４のように、２通りの経路が得られた場
合は、距離の全長を計算して短い方を選択する。島が２
個以上ある場合は、各島について右回りか左回りか一方
を選んで移動経路を最適化する処理を行う。図４の場合
は、図４（ｃ）の経路が図４（ｂ）の経路より短いの
で、図４（ｃ）の経路を選択する。As shown in FIG. 4, when two routes are obtained, the total length of the distance is calculated and the shorter one is selected. Island 2
If there are more than one, a process of optimizing the movement route is performed by selecting either clockwise or counterclockwise for each island. In the case of FIG. 4, since the route in FIG. 4C is shorter than the route in FIG. 4B, the route in FIG. 4C is selected.
【００２６】図４（ｃ）におけるサブゴール１〜９を見
ると、サブゴール２，３，４，８は省略できることがわ
かる。これをコンピュータ処理によって判断するために
は、作成された移動経路につき始点からサブゴールと終
点に向かってサブゴールを１つずつ飛ばしながら直線で
結び、この直線が境界線と交差しない場合は飛ばしたサ
ブゴールを消去し、境界線と交差する場合は残ったサブ
ゴールを１つずつ前進しながら次のサブゴールを１つず
つ飛ばして直線で結び、境界線と交差しない場合は飛ば
したサブゴールを消去することを繰り返して最終的な移
動経路とすればよい。Looking at subgoals 1 to 9 in FIG. 4C, it can be seen that subgoals 2, 3, 4, and 8 can be omitted. In order to determine this by computer processing, the created travel route is connected by a straight line while skipping the subgoals one by one from the start point to the subgoal and the end point, and if the straight line does not intersect the boundary line, the skipped subgoal is connected. If it crosses the boundary line, it skips the next subgoal one by one while connecting the remaining subgoals one by one while moving forward one by one, and if it does not cross the boundary line, repeatedly deletes the skipped subgoal. What is necessary is just to make it the final moving route.
【００２７】図５，図６は、サブゴールを飛ばして消去
していく短縮化処理工程を表している。（ａ）はサブゴ
ール１を飛ばすと直線が境界線と交差するので飛ばせな
い状態、（ｂ）はサブゴール２が飛ばせる状態、（ｃ）
（ｄ）は新たなサブゴール２が飛ばせる状態、（ｅ）は
サブゴール２が飛ばせない状態、（ｆ）は新たなサブゴ
ール３が飛ばせない状態、（ｇ）は新たなサブゴール４
が飛ばせない状態、（ｈ）は新たなサブゴール５が飛ば
せる状態を表しており、かくして、移動経路が始点から
サブゴール１〜５を経由して終点に到達する最短経路と
なって最適化が達成される。FIGS. 5 and 6 show a shortening process in which subgoals are skipped and erased. (A) is a state where a straight line intersects a boundary line when the subgoal 1 is skipped, so that the subgoal 1 cannot be skipped, (b) is a state where the subgoal 2 can be skipped, and (c).
(D) is a state in which the new subgoal 2 can be skipped, (e) is a state in which the subgoal 2 cannot be skipped, (f) is a state in which the new subgoal 3 cannot be skipped, and (g) is a state in which the new subgoal 4 can be skipped.
(H) indicates a state in which a new subgoal 5 can be skipped, and thus the movement path becomes the shortest path from the start point to the end point via the subgoals 1 to 5 to achieve optimization. Is done.
【００２８】図７，図８は、本発明の経路作成方法の処
理の流れを表すフローチャートである。図７は全体の流
れを表し、図８は経路作成のアルゴリズムを表してい
る。各処理における具体的な手順は、コンピュータのプ
ログラムによって処理されるものであり、障害物の形状
や島の数などに応じて、各種の修正や変更を加えること
を予定しているものである。FIGS. 7 and 8 are flowcharts showing the flow of processing of the route creation method according to the present invention. FIG. 7 shows an overall flow, and FIG. 8 shows an algorithm for creating a route. The specific procedure in each process is processed by a computer program, and various corrections and changes are scheduled to be made according to the shape of an obstacle, the number of islands, and the like.
【００２９】[0029]
【発明の効果】以上詳細に説明した如く、本発明による
経路作成方法は簡単なアルゴリズムの繰り返しであるた
め、経路生成時間の大幅な短縮が可能となり、ロボット
に搭載可能な小型のコンピュータによって処理すること
ができる。従って、移動ロボットが移動中において到達
目標位置の変更指示があった場合にもリアルタイムに応
答することが可能となる。本発明の経路作成方法は、警
備・巡視用ロボットのパスプランニングや、工場・オフ
ィス・学校などでの無人搬送車等に適用できる等、移動
ロボットにおける技術的効果には極めて顕著なものがあ
る。As described in detail above, the route creation method according to the present invention is a simple algorithm repetition, so that the route creation time can be greatly reduced, and processing is performed by a small computer that can be mounted on a robot. be able to. Therefore, it is possible to respond in real time even when an instruction to change the target position is given while the mobile robot is moving. The route creation method of the present invention has extremely remarkable technical effects in mobile robots, such as being applicable to path planning of security / patrol robots and automatic guided vehicles in factories, offices, schools, and the like.
【図１】閉鎖した平面区画内にある障害物を折れ線近似
した平面図である。FIG. 1 is a plan view in which an obstacle in a closed plane section is approximated by a polygonal line.
【図２】Ｉ型の障害物における経路作成工程を表す概略
図である。FIG. 2 is a schematic diagram illustrating a route creation process for an I-type obstacle.
【図３】Ｔ型の障害物における経路作成工程を表す概略
図である。FIG. 3 is a schematic diagram illustrating a route creation step for a T-shaped obstacle.
【図４】右回りと左回りの経路作成工程を表す平面図で
ある。FIG. 4 is a plan view illustrating a clockwise and counterclockwise path creation process.
【図５】サブゴールを飛ばす最適化処理工程を表す平面
図である。FIG. 5 is a plan view illustrating an optimization processing step of skipping a subgoal.
【図６】サブゴールを飛ばす最適化処理工程を表す平面
図である。FIG. 6 is a plan view illustrating an optimization processing step of skipping a subgoal.
【図７】本発明による経路作成方法の全体の工程を表す
流れ図である。FIG. 7 is a flowchart showing the whole process of the route creation method according to the present invention.
【図８】経路作成のアルゴリズムを表す流れ図である。FIG. 8 is a flowchart illustrating an algorithm of route creation.
１０ 壁面 １２，１４，４０ 島 ＡＢ，ＢＣ，ＣＤ，・・・境界線分 Ｃ′，Ｄ′，Ｅ′，・・・サブゴール 10 wall surface 12, 14, 40 island AB, BC, CD, ... boundary line segment C ', D', E ', ... subgoal
───────────────────────────────────────────────────── フロントページの続き (72)発明者 梶谷 誠 神奈川県秦野市鶴巻北２−８−１−304 (72)発明者 益田 正 東京都立川市羽衣町１−14−５ (56)参考文献 特開 平７−191743（ＪＰ，Ａ) (58)調査した分野(Int.Cl.7，ＤＢ名) G05D 1/00 - 1/12 ──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Makoto Kajiya 2-8-1-304, Tsurumakikita, Hadano-shi, Kanagawa (72) Inventor Tadashi Masuda 1-14-5, Hagoromocho, Tachikawa-shi, Tokyo (56) References JP-A-7-191743 (JP, A) (58) Fields investigated (Int. Cl. 7 , DB name) G05D 1/00-1/12
Claims (4)
の障害物が壁面に接近した状態又は壁面から離れた島の
状態で存在する平面内を始点から終点まで移動ロボット
による移動経路を作成する方法であって、 障害物の存在を示す地図データを作成し、 障害物の端縁にロボットの幅の２分の１と衝突防止隙間
とを加えて端縁を拡大し折れ線近似させ、各折れ線が表
示する境界線の線分に前向きの順序付けを行って壁面側
及び島側がそれぞれ一筆書きとなる境界線データを作成
し、(a) 始点と終点を直線で結んで経路候補とし、(b)
前記境界線の各線分を先頭から順番に前記経路候補と交
差していないかチェックし、前記経路候補の直線が前記
境界線の線分と交差する位置のうち最も始点側に近い線
分を直近交差線分とし、(c) 当該直近交差線分の前方側
端縁から所定の微小距離だけ前方にサブゴールを設定
し、(d) 始点から新たなサブゴールを経て終点に到る新
たな経路によって経路候補を更新し、(e) 新たな経路候
補と境界線とが交差する位置のうち最も始点側に近い線
分を次の直近交差線分とし、(f) 以下前記(c)(d)(e) を
繰り返して経路候補を更新し、新たな経路候補と境界線
とが交差しなくなるまで繰り返し、 始点から終点に到る移動経路を生成することを特徴とす
る移動ロボットの経路作成方法。1. A moving path by a mobile robot from a start point to an end point in a plane in which an obstacle such as a protruding wall, a pillar, furniture, or the like exists in a closed plane in a state of approaching a wall surface or in an island state away from the wall surface. A map data indicating the presence of an obstacle is created, and a half of the width of the robot and a collision prevention gap are added to the edge of the obstacle, and the edge is enlarged to approximate a polygonal line. , Perform forward ordering on the line segment of the boundary line displayed by each polygonal line to create boundary data in which the wall side and the island side are drawn with one stroke each, and (a) connect the start point and the end point with a straight line as a route candidate, (b)
Check each line segment of the boundary line in order from the top to see if it intersects with the route candidate, and place the line segment closest to the start point closest to the position where the straight line of the route candidate intersects the line segment of the boundary line to the nearest. (C) a subgoal is set a predetermined minute distance forward from the front edge of the nearest intersection line, and (d) a new route from the start point to the end point via a new subgoal. The candidate is updated, and (e) the line segment closest to the starting point among the positions where the new route candidate and the boundary line intersect is taken as the next nearest intersection line segment, and (f) and below (c) (d) ( e) repeating the route candidate to repeat the process until the new route candidate and the boundary line no longer intersect to generate a travel route from the start point to the end point.
本の線分が経路候補の直線２本と同時に交差した場合
は、これら２本の直線上に共通するサブゴールを削除し
て飛ばした経路を新たな経路候補とする請求項１記載の
移動ロボットの経路作成方法。2. The method according to claim 1, wherein in the path creation step, one of the boundary lines
2. The mobile robot according to claim 1, wherein when the two line segments intersect at the same time with two straight line candidates, the sub-goal common to these two straight lines is deleted and the skipped route is set as a new route candidate. Route creation method.
サブゴールと終点に向かってサブゴールを１つずつ飛ば
しながら直線で結び、この直線が境界線と交差しない場
合は飛ばしたサブゴールを消去し、境界線と交差する場
合は残ったサブゴールを１つずつ前進しながら次のサブ
ゴールを１つずつ飛ばして直線で結び、境界線と交差し
ない場合は飛ばしたサブゴールを消去することを繰り返
して最終的な移動経路とする請求項１記載の移動ロボッ
トの経路作成方法。3. The created moving route is connected by a straight line while skipping one subgoal from a start point to a subgoal and an end point. If the straight line does not intersect a boundary line, the skipped subgoal is deleted. If it intersects, skip the next subgoal one by one while connecting the remaining subgoals one by one and connect with a straight line. If it does not intersect with the boundary line, repeat the deletion of the skipped subgoal, and repeat the final movement path The route creation method for a mobile robot according to claim 1, wherein
れぞれ右回りと左回りの２通りの順序付けを行い、右回
りの最終的な移動経路と左回りの最終的な移動経路とを
比較して短い方を最終的な移動経路とする請求項３記載
の移動ロボットの経路作成方法。4. The clockwise and counterclockwise ordering is performed on each of the polygonal line segments on the wall surface side and the island side, and a final clockwise moving path and a final clockwise moving path are determined. The route creation method for a mobile robot according to claim 3, wherein a shorter one is set as a final movement route.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP15311497A JP3198076B2 (en) | 1997-05-28 | 1997-05-28 | Path creation method for mobile robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP15311497A JP3198076B2 (en) | 1997-05-28 | 1997-05-28 | Path creation method for mobile robots |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH10333746A JPH10333746A (en) | 1998-12-18 |
| JP3198076B2 true JP3198076B2 (en) | 2001-08-13 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP15311497A Expired - Lifetime JP3198076B2 (en) | 1997-05-28 | 1997-05-28 | Path creation method for mobile robots |
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| Country | Link |
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| JP (1) | JP3198076B2 (en) |
Families Citing this family (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6577925B1 (en) | 1999-11-24 | 2003-06-10 | Xerox Corporation | Apparatus and method of distributed object handling |
| JP4375320B2 (en) | 2005-10-27 | 2009-12-02 | 株式会社日立製作所 | Mobile robot |
| KR100748245B1 (en) * | 2005-12-09 | 2007-08-10 | 한국전자통신연구원 | Method for mapping and navigating mobile robot by artificial landmark and local coordinate |
| JPWO2011070869A1 (en) * | 2009-12-07 | 2013-04-22 | 国立大学法人 東京大学 | Mobile system |
| KR101146942B1 (en) * | 2010-02-04 | 2012-05-22 | 한국과학기술연구원 | Device for generating path of moving robot, moving robot having the same and method for generating path of moving robot |
| JP5860081B2 (en) * | 2014-02-27 | 2016-02-16 | ファナック株式会社 | Robot simulation device that generates robot motion path |
| US9925664B2 (en) | 2014-02-27 | 2018-03-27 | Fanuc Corporation | Robot simulation device for generation motion path of robot |
| CN111507652A (en) * | 2019-01-30 | 2020-08-07 | 顺丰科技有限公司 | Task path determination method and device |
| JP2021146491A (en) | 2020-03-23 | 2021-09-27 | ソニーグループ株式会社 | Control device, control method, and computer program |
| CN113720344B (en) * | 2021-08-30 | 2024-06-04 | 深圳银星智能集团股份有限公司 | Path searching method, path searching device, intelligent equipment and storage medium |
| CN114014027B (en) * | 2021-10-08 | 2023-08-22 | 巢湖学院 | Flexible conveying system based on micro conveying unit |
| CN115451963A (en) * | 2022-08-11 | 2022-12-09 | 燕山大学 | Robot navigation system and method in dynamic environment |
| CN115326057A (en) * | 2022-08-31 | 2022-11-11 | 深圳鹏行智能研究有限公司 | Path planning method and device, robot and readable storage medium |
| CN115238525B (en) * | 2022-09-16 | 2023-04-18 | 广东工业大学 | Feasible path searching method for pedestrian simulation passenger flow organization |
| CN116175571A (en) * | 2023-02-21 | 2023-05-30 | 安徽同湃特机器人科技有限公司 | Method for calculating path points of travel operation of spraying robot along wall |
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1997
- 1997-05-28 JP JP15311497A patent/JP3198076B2/en not_active Expired - Lifetime
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| Publication number | Publication date |
|---|---|
| JPH10333746A (en) | 1998-12-18 |
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