Title:
PATH PLANNING METHOD EMPLOYING DISTRIBUTED PARALLEL COMPUTATION AND SYSTEM THEREOF
Document Type and Number:
WIPO Patent Application WO/2020/181729
Kind Code:
A1
Abstract:
A path planning method employing distributed parallel computation and a system thereof. The method comprises the following steps: a mobile robot regularly reading data from a lidar sensor by means of a data acquisition module, then formatting and storing the data in a local database; the mobile robot encapsulating the sensor data as a message, and calling a remote interface to submit the message to a cloud; the cloud executing a path planning method employing distributed parallel computation, extracting the message from a message queue, separating the lidar data into groups and having all groups generate environment maps in parallel, constructing a search interval by connecting starting points, improving an A* algorithm and constructing a visibility graph and searching for paths in parallel, merging the paths, encapsulating the merged path into a message, and returning the message to the mobile robot; and the mobile robot acquiring the returned path, and moving towards a target point. The path planning method is completed at high-speed, and resolves an issue of the mobile robot having insufficient onboard capability during path planning.
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Inventors:
LV TAIZHI (CN)
FENG MAOYAN (CN)
ZHAO TAO (CN)
ZHANG JUN (CN)
CHEN YONG (CN)
SUN JIONGNING (CN)
FENG MAOYAN (CN)
ZHAO TAO (CN)
ZHANG JUN (CN)
CHEN YONG (CN)
SUN JIONGNING (CN)
Application Number:
PCT/CN2019/102439
Publication Date:
September 17, 2020
Filing Date:
August 26, 2019
Export Citation:
Assignee:
JIANGSU MARITIME INST (CN)
International Classes:
G01S17/02; G01C21/20
Foreign References:
| CN110057360A | 2019-07-26 | |||
| CN107515002A | 2017-12-26 | |||
| CN108981695A | 2018-12-11 |
Other References:
LV, TAIZHI: "Non-official translation: Research on Mobile Robot Path Planning and Map Creation", ELECTRONIC TECHNOLOGY & INFORMATION SCIENCE, CHINA DOCTORAL DISSERTATIONS FULL-TEXT DATABASE, no. 7, 15 July 2018 (2018-07-15), ISSN: 1674-022X, DOI: 27
CAO, QIWU: "Research on Path Planning and Real-time Positioning of Agricultural Robot Based on Cloud Computing", JOURNAL OF AGRICULTURAL MECHANIZATION RESEARCH, no. 2, 28 February 2019 (2019-02-28), pages 211 - 213, ISSN: 1003-188X, DOI: 20191115114124
TRAN, N. ET AL.: "Global Path Planning for Autonomous Robots using Modified Visibility-graph", ICCAIS 2013, 28 November 2013 (2013-11-28), pages 317 - 321, XP032559408, DOI: 20191115114750
CAO, QIWU: "Research on Path Planning and Real-time Positioning of Agricultural Robot Based on Cloud Computing", JOURNAL OF AGRICULTURAL MECHANIZATION RESEARCH, no. 2, 28 February 2019 (2019-02-28), pages 211 - 213, ISSN: 1003-188X, DOI: 20191115114124
TRAN, N. ET AL.: "Global Path Planning for Autonomous Robots using Modified Visibility-graph", ICCAIS 2013, 28 November 2013 (2013-11-28), pages 317 - 321, XP032559408, DOI: 20191115114750
Attorney, Agent or Firm:
JIANGSU YINCHUANG LAW FIRM et al. (CN)
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