Summary of the invention
In view of this, the purpose of the present invention is to provide a kind of method in Global motion planning path, it is complete to solve the prior artOffice's planning path method lacks flexibility, and the problem that real-time is not high.
It is as follows that the present invention solves technical solution used by above-mentioned technical problem:
According to the first aspect of the invention, a kind of method in Global motion planning path is provided, Global motion planning device, institute are suitable forState method the following steps are included:
Receive multiple path points of First Series；
According to the current posture of mobile robot, planning is sent to mobile robot with the path of first path point；
When mobile robot reaches first path point of planning, according to the current posture of mobile robot, planning is hadThe path of second path point is sent to mobile robot；
The step of repeating above-mentioned planning path and transmitting path, until mobile robot reaches the last one of First SeriesPath point.
According to the second aspect of the invention, a kind of Global motion planning device is provided, the Global motion planning device include: receiver,Controller and transmitter, the receiver receive multiple path points of First Series, and the controller is worked as according to mobile robotPreceding posture, planning have the path of first path point, and the path with first path point is sent to shifting by transmitterMobile robot, when mobile robot reaches first path point of planning, the controller is according to the current appearance of mobile robotGesture, planning has the path of second path point, and the path with first path point is sent to movement by transmitterRobot, the controller and transmitter repeat the step of above-mentioned planning path and transmitting path, until mobile robot reachesThe last one path point of First Series.
According to the third aspect of the present invention, a kind of computer readable storage medium is provided, which is characterized in that the calculatingIt is stored with computer program on machine readable storage medium storing program for executing, such as first aspect is realized when the computer program is executed by processorOr described in the second aspect the step of Global motion planning path.
A series of Global motion planning Path Method of the embodiment of the present invention, when having received path points, when each path of arrivalPath planning is all re-started according to the current posture of robot when point, can preferably cope with unpredictalbe barrier and ringBorder variation, improves Global motion planning device to the real-time of path planning.
Specific embodiment
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
In subsequent description, if using the suffix for indicating such as " module ", " component " or " unit " of elementOnly for being conducive to explanation of the invention, itself there is no specific meaning.Therefore, " module ", " component " or " unit " can be withMixedly use.
The embodiment of the present invention one provides a kind of method in Global motion planning path, is suitable for Global motion planning device.Please refer to figure1, method flow includes:
Step S101, multiple path points of First Series are received；
Before receiving multiple path points of First Series, Global motion planning device is idle state.When receiving path pointWhen, Global motion planning device opens planning state.
Step S102, according to the current posture of mobile robot, planning is sent to movement with the path of first path pointRobot；
Mobile robot posture includes the location of robot, direction etc..
Optionally, according to the current posture of mobile robot, planning is sent to moving machine with the path of first path pointDevice people, concrete mode are as follows:
Position and direction are presently according to mobile robot, element, Quick Extended random number R RT or road are searched using figureAt least one of line chart algorithmic rule is sent to mobile robot with the path of first path point.
Optionally, according to the current posture of mobile robot, planning is sent to mobile robot with the path of path pointLater, Global motion planning device is wait state within the waiting time of setting.The waiting time of the setting can be robot fromThe estimated time of starting point arrival destination path point.
At the end of the waiting time of the setting, whether Global motion planning device detection mobile robot reaches the path of planningPoint, when detection, which moves on to robot, does not reach the path point of planning, according to the current posture of mobile robot, planning, which has, again is somebody's turn to doThe path of path point is sent to mobile robot.When detection, which moves on to robot, arrived the path point of planning, then execute subsequentStep S103.
Step S103, when mobile robot reaches first path point of planning, according to the current posture of mobile robot,Planning is sent to mobile robot with the path of second path point；
Step S104, the step of repeating above-mentioned planning path and transmitting path, until mobile robot reaches First SeriesThe last one path point.
Optionally, after mobile robot reaches the last one path point of First Series, Global motion planning device restores idleState waits second series path point to be received.
Optionally, before mobile robot reaches the last one path point, if receiving second series path point,Abandon the First Series path point, and the step of planning path and transmitting path are carried out according to second series path point.
In practical application, when Global motion planning device is not received by any path point, Global motion planning device is in idle condition.When receiving a series of or either path point, Global motion planning device opens planning state, and planning one has the road of path pointDiameter is sent to mobile robot.Robot is then moved according to the path of planning, when robot starts mobile, Global motion planningDevice is waited within the set time, and at the end of wait state, whether detection robot reaches the first path of planningPoint, if detecting the first path point for not reaching planning, according to robot, currently new posture is planned again, so as toCope with unpredictalbe variation or obstacle.If detect the first path point that arrived planning, root if Global motion planning deviceAccording to the current posture of robot, continue path of the planning with the second path point to robot, robot reaches second pathThe process of point is identical with the aforementioned process for reaching first path point, and so on, repeat above-mentioned planning path and transmitting pathThe step of, until mobile robot reaches the last one path point of First Series, later, Global motion planning device is in idle shapeState, until receiving new series or either path point.
Also, before mobile robot reaches a series of the last one path point, if received new a series ofIt when path point, then represents Global motion planning device and needs to change existing path planning, therefore, Global motion planning device is a series of before abandoningPath point, and series of paths point new based on the received re-starts planning path and transmitting path to robot.
A series of method in Global motion planning path provided in this embodiment, when having received path points, when each road of arrivalPath planning is all re-started according to the current posture of robot when diameter point, can preferably cope with unpredictalbe barrier andEnvironmental change, further, in robot moving process, if Global motion planning device receives a series of new path points,Path planning will be re-started according to new range path point, and further improve Global motion planning device to the real-time of path planning.
Referring to Fig. 2, second embodiment of the present invention provides a kind of Global motion planning devices.The Global motion planning device includes receiver201, controller 202 and transmitter 203.
The receiver 201 receives multiple path points of First Series.
The controller 202 is according to the current posture of mobile robot, and planning is with first path point in First SeriesPath, mobile robot will be sent to the path of first path point by transmitter 203.
When mobile robot reaches first path point of planning, the controller 202 is current according to mobile robotPosture, planning has the path of second path point, and is sent to the path with second path point by transmitter 203Mobile robot.
The step of controller 202 and transmitter 203 repeat above-mentioned planning path and transmitting path, until mobile machineThe last one path point of people's arrival First Series.
According to the current posture of mobile robot, planning is sent to mobile robot with the path of first path point, hasBody mode are as follows:
Position and direction are presently according to mobile robot, element, Quick Extended random number R RT or road are searched using figureAt least one of line chart algorithmic rule is sent to mobile robot with the path of first path point.
Optionally, the Global motion planning device further includes detector 204, and the transmitter 203 will have the path of path pointIt is sent to after mobile robot, Global motion planning device is wait state within the waiting time of setting, when the waiting of the settingAt the end of time, the detector 204 detects the path point whether mobile robot reaches planning, when mobile robot does not reachWhen the path point of planning, according to the current posture of mobile robot, the controller 202 plans the road with the path point againDiameter, and mobile robot is sent to by transmitter 203.
Optionally, before mobile robot reaches the last one path point, if the receiver 201 receives secondSeries of paths point, then the controller 202 abandons First Series path point, and carries out planning road according to second series path pointDiameter, and the path is sent to mobile robot by the transmitter 203.
During path planning, there are three states for Global motion planning device, are respectively: idle state, waits shape at planning stateState.
When Global motion planning device does not receive any path point information, Global motion planning device is in idle condition；When receivingWhen a series of or either path point, Global motion planning device opens planning state, and one path with path point of planning is sent toMobile robot；When the path that planning is had path point is sent to mobile robot, and robot starts mobile, Global motion planningDevice is wait state within the waiting time of setting.
Following table is please referred to, is state table of the Global motion planning device in path planning.Wherein, destination, that is, path point.
Global motion planning device provided in this embodiment, when having received a series of path points, all when reaching each path pointAccording to robot, current posture re-starts path planning, can preferably cope with unpredictalbe barrier and environment becomesChange, further, in robot moving process, if Global motion planning device receives a series of new path points, by basisNew range path point re-starts path planning, further improves Global motion planning device to the real-time of path planning.
On the basis of previous embodiment, the embodiment of the present invention three provides a kind of computer readable storage medium, specialSign is, computer program is stored on the computer readable storage medium, when the computer program is executed by processorThe step of realizing the path planning such as first embodiment or second embodiment.
The computer readable storage medium of the present embodiment, by when reaching each path point all according to robot it is currentPosture re-starts path planning, unpredictalbe barrier and environmental change can be preferably coped with, further, in machineIn people's moving process, if Global motion planning device receives a series of new path points, will according to new range path point again intoRow path planning further improves Global motion planning device to the real-time of path planning.
It should be noted that, in this document, the terms "include", "comprise" or its any other variant are intended to non-rowHis property includes, so that the process, method, article or the device that include a series of elements not only include those elements, andAnd further include other elements that are not explicitly listed, or further include for this process, method, article or device institute it is intrinsicElement.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including being somebody's turn to doThere is also other identical elements in the process, method of element, article or device.
The serial number of the above embodiments of the invention is only for description, does not represent the advantages or disadvantages of the embodiments.
Through the above description of the embodiments, those skilled in the art can be understood that above-described embodiment sideMethod can be realized by means of software and necessary general hardware platform, naturally it is also possible to by hardware, but in many casesThe former is more preferably embodiment.Based on this understanding, technical solution of the present invention substantially in other words does the prior artThe part contributed out can be embodied in the form of software products, which is stored in a storage mediumIn (such as ROM/RAM, magnetic disk, CD), including some instructions are used so that a terminal (can be mobile phone, computer, serviceDevice, air conditioner or network equipment etc.) execute method described in each embodiment of the present invention.
The embodiment of the present invention is described with above attached drawing, but the invention is not limited to above-mentioned specificEmbodiment, the above mentioned embodiment is only schematical, rather than restrictive, those skilled in the artUnder the inspiration of the present invention, without breaking away from the scope protected by the purposes and claims of the present invention, it can also make very muchForm, all of these belong to the protection of the present invention.