Mobile robot smooth trajectory planning method based on PSO parameter setting

A mobile robot and trajectory planning technology, which is applied in the direction of two-dimensional position/channel control, etc., can solve the problems of poor tracking control effect, low efficiency, tedious and time-consuming, etc., to save time for parameter debugging, improve adaptability, Curvature reduction effect

Pending Publication Date: 2022-07-22
ZHEJIANG UNIV OF TECH
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AI Technical Summary

Benefits of technology

This patented technology allows robots to plan their movements efficiently by optimizing certain aspects like speed or accuracy without requiring complex calculations involving multiple variables. It uses an ensemble of particles called pins (a type of mathematical equation) representing each object being moved along its way through space. These objects have specific properties which help them move well even when they don’t perfectly match up during movement. By comparing these properties against those expected from previous simulations, it suggests how this technique could improve efficiency and performance in various applications.

Problems solved by technology

This patented describes various technical problem areas related to autonomous vehicles that require accurate navigational paths during their movement without colliding objects like pebbles or other debris. Current approaches involve either globally optimizing or randomly searching for specific locations along the route, while these techniques have drawbacks due to factors including complexity and unpredictable environmental conditions. There also exist hybrid systems where some aspects of the system combine both worldwide and local ones, allowing them to handle challenges involving multiple terrains simultaneously.

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  • Mobile robot smooth trajectory planning method based on PSO parameter setting
  • Mobile robot smooth trajectory planning method based on PSO parameter setting
  • Mobile robot smooth trajectory planning method based on PSO parameter setting

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Embodiment Construction

[0075] In order to make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0076] refer to Figure 1 to Figure 9 , a smooth trajectory planning method for a mobile robot based on PSO parameter tuning, comprising the following steps:

[0077] S1. Obtain a global static grid map of the indoor scene. Each node of the grid map represents that the current position is an obstacle or a passable area, and confirms the starting point and the target point;

[0078] S2. Design the evaluation function of the improved A* algorithm, and perform pathfinding based on the improved A* global path planning algorithm to obtain a reference path;

[0079] S3. According to the control nodes in the path obtained after the path planning, a pure tracking algorithm of empirical parameters is used to realize the

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Abstract

A mobile robot smooth trajectory planning method based on PSO parameter setting comprises the following steps that 1, a global static grid map of an indoor scene is obtained, a two-dimensional map model of the working environment of a mobile robot is established, each node of the grid map represents that the current position is an obstacle or a passable area, and a starting point and a target point are confirmed; 2, designing an evaluation function of an improved A * algorithm, and carrying out path finding based on an improved A * global path planning algorithm to obtain a reference path; 3, according to control nodes in a path obtained after path planning, reference trajectory tracking control is achieved through a pure tracking algorithm of empirical parameters; and 4, intelligently debugging pure tracking parameters based on a PSO (Particle Swarm Optimization) algorithm, and selecting a track with optimal fitness in an iteration process so as to generate a feasible track.

Description

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Claims

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Application Information

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Owner ZHEJIANG UNIV OF TECH
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