技术领域technical field
本发明属于路径规划技术领域，特别涉及一种移动机器人路径规划控制方法。The invention belongs to the technical field of path planning, in particular to a path planning control method for a mobile robot.
背景技术Background technique
移动机器人的路径规划是移动机器人相关技术研究中的核心和研究热点。机器人路径规划的任务是根据所感知到的工作环境信息按照某种优化指标，规划出一条从给定起始点到给定目标点且与所在环境中的障碍物无碰撞的最优或次最优路径。移动机器人的路径规划方法可分为两种类型：一种是环境信息完全已知的全局路径规划，另一种是环境信息未知或部分未知的局部路径规划。全局路径规划按环境模型的表示方法不同可分为多种，富有代表性的方法为构型空间法。构型空间法的基本思想是将机器人简化为一点，同时对障碍物进行相应的膨胀处理，其中研究比较成熟的是可视图法。该方法将所有障碍物顶点和无人艇起始点及目标点用线段相连，如果这些线段不与障碍物相交则认为线段是“可视的”，再据此搜索从起始点到目标点的最优路径。但是可视图法缺乏灵活性，算法的计算用时较长，实时性差，且不适用于圆形障碍物的路径规划问题。The path planning of mobile robots is the core and research hotspot in the research of related technologies of mobile robots. The task of robot path planning is to plan an optimal or suboptimal path from a given starting point to a given target point without collision with obstacles in the environment according to the perceived working environment information according to some optimization index. path. Path planning methods for mobile robots can be divided into two types: one is global path planning with fully known environmental information, and the other is local path planning with unknown or partially unknown environmental information. The global path planning can be divided into many kinds according to the different representation methods of the environment model, and the representative method is the configuration space method. The basic idea of the configuration space method is to simplify the robot to a point, and at the same time expand the obstacles accordingly, among which the research is relatively mature is the visualization method. This method connects all obstacle vertices with the starting point and target point of the UAV with a line segment. If these line segments do not intersect with the obstacle, the line segment is considered "visible", and then searches for the shortest distance from the starting point to the target point. optimal path. However, the visualization method lacks flexibility, and the calculation time of the algorithm is long, the real-time performance is poor, and it is not suitable for the path planning problem of circular obstacles.
发明内容Contents of the invention
针对上述问题，本发明提供一种新的移动机器人路径规划控制方法。In view of the above problems, the present invention provides a new path planning control method for a mobile robot.
本发明具体技术方案如下：Concrete technical scheme of the present invention is as follows:
本发明提供一种移动机器人路径规划控制方法，包括如下部分：The present invention provides a mobile robot path planning control method, including the following parts:
S1：数据处理步骤，获取场中障碍物以及接球区、触地区的位置信息，并将场中障碍物以机器人半径进行膨胀，膨胀为一以障碍物为中心的圆形；S1: Data processing step, obtaining the location information of the obstacles in the field, the receiving area, and the touchdown area, and expanding the obstacles in the field with the radius of the robot, and expanding them into a circle centered on the obstacle;
S2：判断步骤，将接球区中机器人所在位置作为起始点，触地区中的目标触地位置作为目标点，且将起始点与目标点连接形成直线，判断直线与圆形是否有交点，若有，则向步骤S3发送指令，若没有，则直线段为起始点到目标点的最优路径；S2: Judgment step, take the position of the robot in the receiving area as the starting point, and the target touchdown position in the touchdown area as the target point, and connect the starting point and the target point to form a straight line, and judge whether there is an intersection between the straight line and the circle, if If there is, then an instruction is sent to step S3, if not, the straight line segment is the optimal path from the starting point to the target point;
S3：规划路线形成步骤，在圆形上构建与直线平行的辅助线段，所述辅助线段为圆形的切线，且所述辅助线段的长度与圆形半径相等，辅助线段的两个端点为辅助点，将起始点、两辅助点和目标点依次连接形成初步的规划路线；S3: The step of planning route formation, constructing an auxiliary line segment parallel to the straight line on the circle, the auxiliary line segment is the tangent of the circle, and the length of the auxiliary line segment is equal to the radius of the circle, and the two endpoints of the auxiliary line segment are auxiliary point, connecting the starting point, the two auxiliary points and the target point in sequence to form a preliminary planned route;
S4：最优路径构建步骤，判断形成的规划路线的各段与圆形是否相交，若是，则重新构建辅助线段，形成最终的规划路线，否则，对形成的初步的规划路线进行平滑处理，平滑处理后的规划路线为起始点到目标点的最优路径。S4: Optimal path construction step, judging whether each segment of the planned route intersects with the circle, if so, rebuilding the auxiliary line segment to form the final planned route, otherwise, smoothing the formed preliminary planned route, smoothing The processed planned route is the optimal route from the starting point to the target point.
一种移动机器人路径规划控制系统，包括存储器、处理器及存储在存储器上的计算机程序，所述处理器执行所述计算机程序以实现上述所述方法的步骤。A path planning control system for a mobile robot, comprising a memory, a processor and a computer program stored on the memory, the processor executes the computer program to implement the steps of the above method.
本发明的有益效果如下：The beneficial effects of the present invention are as follows:
本发明提供一种新的移动机器人路径规划控制方法，对圆形障碍物进行了有效处理，由于只对当前规划路径下可触碰到的障碍物进行研究处理，摒弃了其他无关障碍物，算法的计算用时得到了提高。The present invention provides a new path planning control method for a mobile robot, which effectively handles circular obstacles. Since only the obstacles that can be touched under the current planned path are studied and processed, other irrelevant obstacles are discarded. The calculation time of has been improved.
附图说明Description of drawings
图1为本发明中移动机器人路径规划控制方法的流程图；Fig. 1 is the flow chart of mobile robot path planning control method in the present invention;
图2为本发明中步骤S2的流程图；Fig. 2 is the flowchart of step S2 among the present invention;
图3为本发明中步骤S3的流程图；Fig. 3 is the flowchart of step S3 among the present invention;
图4(a)为本发明中路径检测的示意图；Fig. 4 (a) is the schematic diagram of path detection in the present invention;
图4(b)为本发明中辅助点确定的示意图；Fig. 4 (b) is the schematic diagram that auxiliary point is determined among the present invention;
图4(c)为本发明中拟合曲线的效果图；Fig. 4 (c) is the effect figure of fitting curve among the present invention;
图5为本发明中步骤S4的流程图。Fig. 5 is a flowchart of step S4 in the present invention.
具体实施方式Detailed ways
下面结合附图和以下实施例对本发明作进一步详细说明。The present invention will be described in further detail below in conjunction with the accompanying drawings and the following embodiments.
在一些实施例中，本发明提供一种移动机器人路径规划控制方法，如图1所示，包括如下部分：In some embodiments, the present invention provides a mobile robot path planning control method, as shown in Figure 1, including the following parts:
S1：数据处理步骤，获取场中障碍物以及接球区、触地区的位置信息，并将场中障碍物以机器人半径进行膨胀，膨胀为一以障碍物为中心的圆形；S1: Data processing step, obtaining the location information of the obstacles in the field, the receiving area, and the touchdown area, and expanding the obstacles in the field with the radius of the robot, and expanding them into a circle centered on the obstacle;
S2：判断步骤，将接球区中机器人所在位置作为起始点，触地区中的目标触地位置作为目标点，且将起始点与目标点连接形成直线，判断直线与圆形是否有交点，若有，则向步骤S3发送指令，若没有，则直线段为起始点到目标点的最优路径；S2: Judgment step, take the position of the robot in the receiving area as the starting point, and the target touchdown position in the touchdown area as the target point, and connect the starting point and the target point to form a straight line, and judge whether there is an intersection between the straight line and the circle, if If there is, then an instruction is sent to step S3, if not, the straight line segment is the optimal path from the starting point to the target point;
S3：规划路线形成步骤，在圆形上构建与直线平行的辅助线段，所述辅助线段为圆形的切线，且所述辅助线段的长度与圆形半径相等，辅助线段的两个端点为辅助点，将起始点、两辅助点和目标点依次连接形成初步的规划路线；S3: The step of planning route formation, constructing an auxiliary line segment parallel to the straight line on the circle, the auxiliary line segment is the tangent of the circle, and the length of the auxiliary line segment is equal to the radius of the circle, and the two endpoints of the auxiliary line segment are auxiliary point, connecting the starting point, the two auxiliary points and the target point in sequence to form a preliminary planned route;
S4：最优路径构建步骤，判断形成的规划路线的各段与圆形是否相交，若是，则重新构建辅助线段，形成最终的规划路线，否则，对形成的初步的规划路线进行平滑处理，平滑处理后的规划路线为起始点到目标点的最优路径。S4: Optimal path construction step, judging whether each segment of the planned route intersects with the circle, if so, rebuilding the auxiliary line segment to form the final planned route, otherwise, smoothing the formed preliminary planned route, smoothing The processed planned route is the optimal route from the starting point to the target point.
本发明提供一种新的移动机器人路径规划控制方法，对圆形障碍物进行了有效处理，由于只对当前规划路径下可触碰到的障碍物进行研究处理，摒弃了其他无关障碍物，算法的计算用时得到了提高。The present invention provides a new path planning control method for a mobile robot, which effectively handles circular obstacles. Since only the obstacles that can be touched under the current planned path are studied and processed, other irrelevant obstacles are discarded. The calculation time of has been improved.
本实施例中首先，基于两点之间直线最短的原理判断期望路径是否与障碍物相交，若相交则根据所相交的障碍物选择辅助点，否则沿当前期望路线运动。由于场地内障碍物形状多为圆形，通过判断以障碍物中心点为圆心，障碍物半径与机器人半径和为其半径的圆是否与各段期望曲线相交。In this embodiment, first, based on the principle of the shortest straight line between two points, it is judged whether the desired path intersects with an obstacle, and if so, an auxiliary point is selected according to the intersected obstacle; otherwise, it moves along the current desired path. Since most obstacles in the field are circular in shape, by judging whether the center point of the obstacle is the center of the circle, the radius of the obstacle, the radius of the robot, and the circle with its radius intersect each segment of the expected curve.
如图2所示，本实施例中步骤S2包括如下部分：As shown in Figure 2, step S2 in this embodiment includes the following parts:
S21：以起始点为原点，起始点与目标点形成的直线为x轴建立平面坐标系；S21: establish a plane coordinate system with the starting point as the origin, and the straight line formed by the starting point and the target point as the x-axis;
S22：根据平面坐标系计算圆形上各点的坐标；S22: Calculate the coordinates of each point on the circle according to the plane coordinate system;
S23：判断圆形上是否有点的纵坐标为0，若是，则圆形与起始点与目标点形成的直线有交点，否则，没有交点。S23: Determine whether the vertical coordinate of a point on the circle is 0, if yes, then there is an intersection between the circle and the line formed by the starting point and the target point, otherwise, there is no intersection.
本实施例中以起始点为原点建立平面坐标系，通过判断圆形上点的纵坐标是否为0来判断圆形上各点是否与x轴相交。In this embodiment, a plane coordinate system is established with the starting point as the origin, and whether each point on the circle intersects the x-axis is determined by judging whether the ordinate of the point on the circle is 0.
如图3所示，本实施例中步骤S3包括如下部分：As shown in Figure 3, step S3 in this embodiment includes the following parts:
S31：判断与始点与目标点形成的直线平行的辅助线段是否仅有一条，若是，则将起始点、两辅助点和目标点依次连接形成初步的规划路线，否则，进行步骤S32；S31: Determine whether there is only one auxiliary line segment parallel to the straight line formed by the starting point and the target point, if so, connect the starting point, the two auxiliary points and the target point in sequence to form a preliminary planned route, otherwise, proceed to step S32;
S32：计算目标点和各辅助线段上中心点的坐标，并计算中心点到平面坐标系x轴的垂直距离；S32: Calculate the coordinates of the target point and the center point on each auxiliary line segment, and calculate the vertical distance from the center point to the x-axis of the plane coordinate system;
S33：比较各垂直距离的大小，并将垂直距离最小的辅助线段作为确定的辅助线段留下，余下辅助线段隐藏。S33: Compare the sizes of the respective vertical distances, and leave the auxiliary line segment with the smallest vertical distance as the determined auxiliary line segment, and hide the remaining auxiliary line segments.
本实施例中与x轴平行的辅助线段可能不只一条，此时，需要判断距离x轴最短的一条辅助线段从而构建最优路径。In this embodiment, there may be more than one auxiliary line segment parallel to the x-axis. In this case, it is necessary to determine an auxiliary line segment with the shortest distance from the x-axis to construct an optimal path.
本实施例中步骤S32中辅助线段的中点为圆形上的一点。In this embodiment, the midpoint of the auxiliary line segment in step S32 is a point on the circle.
本实施例中步骤S33中将辅助线段的两端点作为辅助点，基于平面坐标系计算两辅助点的坐标，并将起始点、各辅助点和目标点基于各点的坐标依次连接。本实施例中需要计算起始点、各辅助点和目标点的坐标，通过坐标将各点连接构建最优路径，以便于机器人运动。In step S33 in this embodiment, the two ends of the auxiliary line segment are used as auxiliary points, the coordinates of the two auxiliary points are calculated based on the plane coordinate system, and the starting point, each auxiliary point and the target point are sequentially connected based on the coordinates of each point. In this embodiment, it is necessary to calculate the coordinates of the starting point, each auxiliary point and the target point, and connect each point to construct an optimal path through the coordinates, so as to facilitate the movement of the robot.
本实施例中步骤S4中规划路线的平滑处理采用非均匀B样条法进行拟合。In this embodiment, the smoothing process of the planned route in step S4 adopts the non-uniform B-spline method for fitting.
如图4(a)所示，为了便于对移动机器人运动轨迹的研究，将障碍物以机器人半径膨胀，将机器人的运动看成点的运动，将起始点和目标点分别设为A和B，障碍物为中心点O1膨胀圆形，并将中心点的坐标设为(x1，y1)；As shown in Figure 4(a), in order to facilitate the research on the trajectory of the mobile robot, the obstacle is expanded with the radius of the robot, and the movement of the robot is regarded as the movement of the point, and the starting point and the target point are set as A and B respectively. The obstacle is an expanded circle at the center point O1 , and the coordinates of the center point are set to (x1 , y1 );
如图4(b)所示，由于障碍物为圆形没有顶点，在此作辅助点以确定可行路径，辅助点的确定与起始点、目标点连线与水平线的夹角有关。假设起始点为A，目标点为B，O1为障碍物的圆心，GO1为半径，由于O1的圆心位于线AB的下方，因此在AB上方作辅助顶点以实现局部路径最短。作线CD平行于AB与圆O1相切，长度为圆O1直径，G为CD中点。根据几何关系，可以求得辅助点C、D的坐标，其中D点坐标如下：As shown in Figure 4(b), since the obstacle is a circle without an apex, the auxiliary point is used here to determine the feasible path. The determination of the auxiliary point is related to the angle between the starting point, the connecting line between the target point and the horizontal line. Suppose the starting point is A, the target point is B, O1 is the center of the obstacle, and GO1 is the radius. Since the center of O1 is below the line AB, an auxiliary vertex above AB is used to achieve the shortest local path. Draw a line CD parallel to AB and tangent to the circleO1 , the length is the diameter of the circleO1 , and G is the midpoint of CD. According to the geometric relationship, the coordinates of auxiliary points C and D can be obtained, and the coordinates of point D are as follows:
x3＝x1+GD·cosα-GO1·sinαx3 ＝x1 +GD·cosα-GO1 ·sinα
y3＝y1+GD·sinα+GO1·cosαy3 =y1 +GD·sinα+GO1 ·cosα
同理可得C点坐标。再将起始点、辅助点C、D、目标点相连，构成一条折线，判断该路线各段是否与障碍物相交，直到该路线完全可通。In the same way, the coordinates of point C can be obtained. Then connect the starting point, auxiliary points C, D, and the target point to form a broken line, and judge whether each section of the route intersects with obstacles until the route is completely passable.
对生成的路径进行平滑处理，本发明中采用非均匀B样条法进行拟合，在已知起始点、规划路径中的辅助点、目标点的情况下，将该段折线分成若干份，所拟合的曲线(如图4(c)所示)经过已知点且与原折线最接近。The generated path is smoothed. In the present invention, the non-uniform B-spline method is used for fitting. Under the condition of known starting point, auxiliary point and target point in the planned path, the broken line of this section is divided into several parts. The fitted curve (shown in Figure 4(c)) passes through known points and is closest to the original broken line.
如图5所示，本实施例中步骤S4包括如下部分：As shown in Figure 5, step S4 in this embodiment includes the following parts:
S41：基于平面坐标系计算形成的初步的规划路线上各点的坐标；S41: the coordinates of each point on the preliminary planned route formed based on the calculation of the plane coordinate system;
S42：判断各点的坐标与圆形上各点的坐标是否有重合，若没有，则对初步的规划路线进行平滑处理，若有，则进行步骤S43；S42: Judging whether the coordinates of each point overlap with the coordinates of each point on the circle, if not, smoothing the preliminary planned route, if yes, proceed to step S43;
S43：判断起始点与目标点形成的直线是否与一个障碍物膨胀形成的圆形相交，若是，则重新构建确定的辅助线段，形成最终的规划路线，若不是，则进行步骤S44：S43: Determine whether the straight line formed by the starting point and the target point intersects the circle formed by the expansion of an obstacle, if so, rebuild the determined auxiliary line segment to form the final planned route, if not, proceed to step S44:
S44：判断初步形成的规划路线上与圆形上各点坐标有重合的点的位置，若在其中一圆形的辅助线段上，则重新构建所述圆形相对应的辅助线段，若各圆形上的辅助线段都有重合的点，则重新构建所有圆形相对应的辅助线段。S44: Determine the position of the point on the initially formed planned route that coincides with the coordinates of each point on the circle, if it is on the auxiliary line segment of one of the circles, rebuild the auxiliary line segment corresponding to the circle, if each circle If the auxiliary line segments on the shape have coincident points, then rebuild all the auxiliary line segments corresponding to the circle.
本实施例中步骤S43和步骤S44中重新构建辅助线段包括：In this embodiment, rebuilding the auxiliary line segment in step S43 and step S44 includes:
将隐藏的各辅助线段中垂直距离次小的辅助线段作为确定的辅助线段显示，且确定的辅助线段的两端点作为辅助点，将起始点、两辅助点和目标点依次连接形成次规划路线，并在计算次规划路线上各点的坐标后重复步骤S42，直至规划路线上各点的坐标与圆形上各点的坐标没有重合形成最终的规划路线为止，并将最终的规划路线进行平滑处理。Display the auxiliary line segment with the second smallest vertical distance among the hidden auxiliary line segments as the determined auxiliary line segment, and the two end points of the determined auxiliary line segment as auxiliary points, connect the starting point, the two auxiliary points and the target point in sequence to form a secondary planning route, And repeat step S42 after calculating the coordinates of each point on the planned route until the coordinates of each point on the planned route do not coincide with the coordinates of each point on the circle to form the final planned route, and smooth the final planned route .
本实施例中其特征在于，步骤S4还包括如下部分：The present embodiment is characterized in that step S4 also includes the following parts:
S45：在圆形对应的所有辅助线段中都有点的坐标与圆形上各点坐标重合时，在障碍物膨胀形成的圆形上任意选一与圆形相切的直线段作为补足辅助线段，补足辅助线段的中心点与圆形上的点重合，且补足辅助线段的两端点作为补足辅助点，将起始点、补足辅助点和目标点依次连接形成补足规划路线，并在计算补足规划路线上各点的坐标后重复步骤S42，直至规划路线上各点的坐标与圆形上各点的坐标没有重合为止，并将补足规划路线进行平滑处理；S45: When the coordinates of points in all the auxiliary line segments corresponding to the circle coincide with the coordinates of the points on the circle, arbitrarily select a straight line segment tangent to the circle on the circle formed by the obstacle expansion as the supplementary auxiliary line segment, The center point of the supplementary auxiliary line segment coincides with the point on the circle, and the two ends of the supplementary auxiliary line segment are used as the supplementary auxiliary point. The starting point, the supplementary auxiliary point and the target point are connected in sequence to form a supplementary planning route, and the supplementary planning route is calculated. Step S42 is repeated after the coordinates of each point until the coordinates of each point on the planned route do not overlap with the coordinates of each point on the circle, and the planned route will be supplemented for smoothing;
优选的，补足辅助线段为中心点与平面坐标系的垂直距离最短的切线。Preferably, the supplementary auxiliary line segment is the tangent line with the shortest vertical distance between the center point and the plane coordinate system.
本实施例中通过上述方法来保证最优路径的构建，在初步的规划路线与圆形相交时，将垂直距离次短的辅助线段构建次规划路线，在所有辅助线段均与障碍物相交时，在圆形上任选一切线作为补足辅助线段，该补足辅助线段在与x轴不平行的所有切线中距离x轴的垂直距离最短。In this embodiment, the above method is used to ensure the construction of the optimal path. When the preliminary planned route intersects the circle, the auxiliary line segment with the second shortest vertical distance is used to construct the second planned route. When all auxiliary line segments intersect with obstacles, Select a tangent line on the circle as a supplementary auxiliary line segment, and the supplementary auxiliary line segment has the shortest vertical distance from the x-axis among all tangent lines not parallel to the x-axis.
本发明还提供一种移动机器人路径规划控制系统，包括存储器、处理器及存储在存储器上的计算机程序，所述处理器执行所述计算机程序以实现上述所述方法的步骤。The present invention also provides a path planning control system for a mobile robot, including a memory, a processor, and a computer program stored on the memory, and the processor executes the computer program to implement the steps of the above method.
以上所述实施例仅仅是本发明的优选实施方式进行描述，并非对本发明的范围进行限定，在不脱离本发明设计精神的前提下，本领域普通技术人员对本发明的技术方案作出的各种变形和改进，均应落入本发明的权利要求书确定的保护范围内。The above-mentioned embodiments are only descriptions of preferred implementations of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, those skilled in the art may make various modifications to the technical solutions of the present invention. and improvements, all should fall within the scope of protection determined by the claims of the present invention.
| Application Number | Priority Date | Filing Date | Title |
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| CN202110225387.0ACN112987740B (en) | 2021-03-01 | 2021-03-01 | A mobile robot path planning control method |
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| CN202110225387.0ACN112987740B (en) | 2021-03-01 | 2021-03-01 | A mobile robot path planning control method |
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| CN202110225387.0AActiveCN112987740B (en) | 2021-03-01 | 2021-03-01 | A mobile robot path planning control method |
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