Title:
PATH PLANNING METHOD FOR MOBILE ROBOT AND PROGRAM PRODUCT
Document Type and Number:
WIPO Patent Application WO/2023/016194
Kind Code:
A1
Abstract:
A path planning method, global path planning method and motion control method for a mobile robot (1), and a corresponding computer program product. The path planning method comprises the following steps: an information acquisition step S11: acquiring position information of a starting point, an ending point and a predetermined set of waypoints of a first path (2) to be planned, the set of waypoints being a set composed of at least one waypoint; a curve determination step S12: according to the position information of the starting point, the ending point and the set of waypoints, determining a smooth curve which starts from the starting point, passes through the at least one waypoint and ends at the ending point, the curve having a continuous second order derivative; and a path determination step S13: using the smooth curve as the first path (2) of the mobile robot (1). The described method may be ensured that the mobile robot (1) moves along a smooth path and passes waypoints accurately.
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Inventors:
ZHAO AN (CN)
ZHANG CHUANFA (CN)
DI XINGCHAO (CN)
ZHAO YUCHEN (CN)
ZHANG CHUANFA (CN)
DI XINGCHAO (CN)
ZHAO YUCHEN (CN)
Application Number:
PCT/CN2022/106365
Publication Date:
February 16, 2023
Filing Date:
July 19, 2022
Export Citation:
Assignee:
LINGDONG TECH BEIJING CO LTD (CN)
International Classes:
G05D1/02
Foreign References:
| CN112269383A | 2021-01-26 | |||
| CN111208807A | 2020-05-29 | |||
| CN105867421A | 2016-08-17 | |||
| CN112121437A | 2020-12-25 | |||
| CN113031592A | 2021-06-25 | |||
| CN108415413A | 2018-08-17 | |||
| CN107980108A | 2018-05-01 | |||
| US20170213466A1 | 2017-07-27 |
Other References:
LIU CHUN-YANG, XUE-QI JIN, CHENG WEN-GANG: "Path planning for mobile robot based on Bezier curve model", HUABEI-DIANLI-DAXUE-XUEBAO = JOURNAL OF NORTH CHINA ELECTRIC POWER UNIVERSITY NATURAL SCIENCE EDITION, HUABEI-DIANLI-DAXUE, CN, vol. 33, no. 4, 31 July 2006 (2006-07-31), CN , pages 43 - 46, XP093034139, ISSN: 1007-2691
ZHANG ZHIWEN, ZHANG PENG; MAO HUPING; LI XIAOJIE; CHENG BILIANG: "Path Planning of Mobile Robot Based on Improved A* Algorithm", ELECTRONICS OPTICS & CONTROL, vol. 28, no. 4, 30 April 2021 (2021-04-30), pages 21 - 25, XP093034134, ISSN: 1671-637X, DOI: 10.3969/j.issn.1671-637X.2021.04.005
ZHANG ZHIWEN, ZHANG PENG; MAO HUPING; LI XIAOJIE; CHENG BILIANG: "Path Planning of Mobile Robot Based on Improved A* Algorithm", ELECTRONICS OPTICS & CONTROL, vol. 28, no. 4, 30 April 2021 (2021-04-30), pages 21 - 25, XP093034134, ISSN: 1671-637X, DOI: 10.3969/j.issn.1671-637X.2021.04.005
Attorney, Agent or Firm:
NTD UNIVATION INTELLECTUAL PROPERTY AGENCY LTD. (CN)
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