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Patent Searching and Data


Title:
PATH PLANNING METHOD FOR MOVING ROBOT OF IRREGULAR SHAPE
Document Type and Number:
WIPO Patent Application WO/2021/179409
Kind Code:
A1
Abstract:
A path planning method for a moving robot of an irregular shape, comprising the following steps: evenly dividing a 2D workspace of the robot into a topological network T of workspaces, and conducting iterative computations of biological neural dynamics to construct a biological neural network S of the workspaces; forming a kernel matrix according to shape features of the moving robot; conducting convolution computation on the kernel matrix and the biological neural network of the workspaces to obtain a moving state matrix and a rotating state matrix of the robot at network nodes; performing iterative search step by step by using the initial position and direction of the robot in the workspace as initial conditions, and constructing a node tree Tree from an initial state to a target state; and performing reverse search on the node tree Tree to obtain a planned path of the robot. The robot may be of any irregular shape, the three degrees of freedom movement of the robot in a planar space has been considered, and in the convolution computation, a safety coefficient factor is added, the distance between the planned path and an obstacle is controlled, and the safety of the traveling path is adjusted.

Inventors:
ZHAO ZHAN (CN)
ZHU ANJING (CN)
LU EN (CN)
JIN MINGZHI (CN)
Application Number:
PCT/CN2020/086533
Publication Date:
September 16, 2021
Filing Date:
April 24, 2020
Export Citation:
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Assignee:
UNIV JIANGSU (CN)
International Classes:
G05D1/02
Foreign References:
CN106843211A2017-06-13
CN110057362A2019-07-26
CN110426044A2019-11-08
CN104050390A2014-09-17
CN109839110A2019-06-04
US20110004581A12011-01-06
Attorney, Agent or Firm:
NANJING IPZHI INTELLECTUAL PROPERTY AGENCY CO., LTD. (CN)
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