
基本信息:
- 专利标题: 移动机器人的路径规划方法
- 专利标题(英):Path planning method of mobile robot
- 申请号:CN201811102670.9 申请日:2018-09-20
- 公开(公告)号:CN109213169A 公开(公告)日:2019-01-15
- 发明人: 李金波 , 刘琴 , 明振
- 申请人: 湖南万为智能机器人技术有限公司
- 申请人地址: 湖南省长沙市高新开发区文轩路27号麓谷企业广场F1栋16楼
- 专利权人: 湖南万为智能机器人技术有限公司
- 当前专利权人: 长沙万为机器人有限公司
- 当前专利权人地址: 湖南省长沙市高新开发区文轩路27号麓谷企业广场F1栋16楼
- 代理机构: 长沙永星专利商标事务所
- 代理人: 周咏; 米中业
- 主分类号: G05D1/02
- IPC分类号: G05D1/02
The invention discloses a path planning method of a mobile robot. The method comprises the following steps: acquiring environment information to generate an occupancy grid map; calculating and generating a voronoi diagram; smoothing the voronoi diagram; generating a final planning path based on the smoothed voronoi diagram. The invention adopts the voronoi diagram to ensure that the path planningis always in the middle of the obstacles on two sides, and normally walks under the premise of ensuring that the obstacles will not be touched. According to the path planning method of the mobile robot, in the process of generating the voronoi diagram, the voronoi diagram is generated based on Delaunay triangulation, and the b* pathfinding algorithm is used for fast path planning based on the voronoi diagram, thereby solving the problem of global path planning in real environment; and moreover, the method is simple, scientific and reliable.
IPC结构图谱:
G | 物理 |
--G05 | 控制;调节 |
----G05D | 非电变量的控制或调节系统 |
------G05D1/00 | 陆地、水上、空中或太空中的运载工具的位置、航道、高度或姿态的控制,例如自动驾驶仪 |
--------G05D1/02 | .二维的位置或航道控制 |