Title:
PATH PLANNING METHOD AND APPARATUS, AND DEVICE AND STORAGE MEDIUM
Document Type and Number:
WIPO Patent Application WO/2023/029188
Kind Code:
A1
Abstract:
Provided in the embodiments of the present application are a path planning method and apparatus, and a device and a storage medium. The method comprises: determining the current location point of a robot in a map; on the basis of an optimal distance to travel between the current location point and a target point, determining an attractive force of the target point on the robot; determining a repulsive force of an obstacle on the robot, and on the basis of the attractive force and the repulsive force, determining a resultant force on the robot at the current location point; and improving an ant colony algorithm on the basis of the resultant force, a normalized exponential function, and an update policy of a pheromone, and on the basis of the improved ant colony algorithm, determining, in the map, an optimal path between the current location and the target point.
Inventors:
CHEN GAOXIANG (CN)
FU YANG (CN)
MA RUMING (CN)
WANG WEIJIANG (CN)
FU YANG (CN)
MA RUMING (CN)
WANG WEIJIANG (CN)
Application Number:
PCT/CN2021/127233
Publication Date:
March 09, 2023
Filing Date:
October 29, 2021
Export Citation:
Assignee:
NANJING TIANSU AUTOMATION CONTROL SYSTEM CO LTD (CN)
International Classes:
G05D1/02
Domestic Patent References:
| WO2021022637A1 | 2021-02-11 |
Foreign References:
| CN110928295A | 2020-03-27 | |||
| CN108896052A | 2018-11-27 | |||
| CN105718997A | 2016-06-29 |
Other References:
CHEN, YUQING; LI, TONGXUN; YU, SHUANGHE; SHEN, ZHIPENG: "Global Path Planning of Robots Based on Potential Field Ant Colony Algorithm", DALIAN LIGONG DAXUE XUEBAO - JOURNAL OF DALIAN UNIVERSITY OFTECHNOLOGY, vol. 59, no. 3, 30 June 2019 (2019-06-30), CN , pages 316 - 322, XP009543947, ISSN: 1000-8608
Attorney, Agent or Firm:
BEYOND ATTORNEYS AT LAW (CN)
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