Path planning method for irregularly shaped mobile robot

A planning method for an irregularly shaped mobile robot, comprising: uniformly partitioning a two-dimensional workspace of a robot and performing iterative calculation to form a neural network of the workspace, describing environmental information of the entire workspace; forming a matrix according...

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Bibliographische Detailangaben
Hauptverfasser:	Zhan Zhao, Anjing Zhu, En Lu, Mingzhi Jin
Format:	Patent
Sprache:	eng
Schlagworte:	CALCULATING COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS COMPUTING CONTROLLING COUNTING PHYSICS REGULATING SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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Beschreibung
Zusammenfassung:	A planning method for an irregularly shaped mobile robot, comprising: uniformly partitioning a two-dimensional workspace of a robot and performing iterative calculation to form a neural network of the workspace, describing environmental information of the entire workspace; forming a matrix according to shape features of the robot; performing an iterative search using an initial position and direction of the robot in the workspace as initial conditions to build a node tree from an initial state to a target state; and reversely searching the node tree to obtain a planned path of the robot. This may allow a robot to navigate through a space with obstacles, while taking into account the shape and size of the robot.