CN109737980A - A kind of air navigation aid and its corresponding robot - Google Patents
A kind of air navigation aid and its corresponding robot Download PDFInfo
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- CN109737980A CN109737980A CN201811640009.3A CN201811640009A CN109737980A CN 109737980 A CN109737980 A CN 109737980A CN 201811640009 A CN201811640009 A CN 201811640009A CN 109737980 A CN109737980 A CN 109737980A
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Abstract
The purpose of the application is to provide a kind of air navigation aid and its corresponding robot, and the application is by inputting navigation task to robot, so that robot obtains navigation task, which includes destination when user needs to navigate to destination；The navigation topological diagram between navigation initial position and the destination is determined then according to environmental map, and Shortest Path Searching is carried out to the navigation topological diagram, the most short topological path between the navigation initial position and the destination is obtained, the planning to the most short topological path between navigation initial position and destination is realized；In order to improve the search efficiency and real-time in navigation procedure, the robot generates the collisionless navigation strategy of the robot according to the road environment information of acquisition, the moving parameter information of robot and the most short topological path, and the robot is enabled to control the collisionless navigation task for completing user setting of robot according to the collisionless navigation strategy.
Description
Technical field
This application involves computer field more particularly to a kind of air navigation aid and its corresponding robots.
Background technique
With the development and application of technologies of intelligent mobile, how quickly autonomous collisionless movement asks as core
Topic, wherein path planning problem is the most important thing.Currently used global path planning algorithm has conventional method, intelligent bionic to calculate
Method, heuristic search etc..However, when mobile robot is a wide range of, when being moved under high dynamic environments, traditional path
Planning algorithm not only needs to have certain priori knowledge for environmental map, that is, needs biggish memory space storage correlative link
Border information removes this, as road environment complexity improves, calculates distance and increases, the efficiency of single-pathway planning algorithm can be substantially
, especially in the limited situation of computing resource, it is tight to there is very big bottle in decline.
Summary of the invention
The purpose of the application is to provide a kind of air navigation aid and its corresponding robot, to improve existing navigation procedure
In path planning efficiency and navigation efficiency.
According to the one aspect of the application, a kind of air navigation aid is provided, wherein the described method includes:
Obtain navigation task, wherein the navigation task includes destination；
The navigation topological diagram between navigation initial position and the destination is determined according to environmental map；
Shortest Path Searching is carried out to the navigation topological diagram, is obtained between the navigation initial position and the destination
Most short topological path；
According to the road environment information of acquisition, the moving parameter information of robot and the most short topological path generation
The collisionless navigation strategy of robot.
Further, it in above-mentioned air navigation aid, is determined between navigation initial position and the destination according to environmental map
Navigation topological diagram, comprising:
Obtain the environmental map between navigation initial position and the destination, wherein the navigation initial position is by institute
The current location for stating robot determines；
Feasible key point extraction is carried out to the environmental map, is obtained between the navigation initial position and the destination
Feasible key point；
The navigation topological diagram between the navigation initial position and the destination is constructed according to the feasible key point,
In, the navigation topological diagram is used to indicate the topological relation between position and position.
Further, in above-mentioned air navigation aid, the environmental map between navigation initial position and the destination, packet are obtained
It includes:
The environmental map between the navigation initial position and the destination is obtained from storage equipment；Or,
It is constructed using positioning and map structuring algorithm and generates the ring between the navigation initial position and the destination
Condition figure.
Further, in above-mentioned air navigation aid, feasible key point extraction is carried out to the environmental map, obtains the navigation
Feasible key point between initial position and the destination, comprising:
Feasible key point extraction is carried out to the environmental map using Thiessen polygon nomography, obtains the navigation starting
Feasible key point between position and the destination.
Further, in above-mentioned air navigation aid, Shortest Path Searching is carried out to the navigation topological diagram, obtains the navigation
Most short topological path between initial position and the destination, comprising:
Shortest Path Searching is carried out to the navigation topological diagram using Shortest Path Searching Algorithm, obtains the navigation starting
Most short topological path between position and the destination.
Further, in above-mentioned air navigation aid, the Shortest Path Searching Algorithm includes any one of following:
Dijkstra's algorithm, Freud's algorithm and the graceful Ford algorithm of Bell.
Further, in above-mentioned air navigation aid, according to the road environment information of acquisition, the moving parameter information of robot and
The most short topological path generates the collisionless navigation strategy of the robot, comprising:
Obtain the movement of the road environment information and the robot between the navigation initial position and the destination
Parameter information；
The adjacent feasible key of any two in the most short topological path is generated based on the road environment information
Navigation path between point, wherein the feasible key point includes the navigation initial position and the destination；
According between the adjacent feasible key point of any two in the most short topological path navigation path and institute
The moving parameter information for stating robot generates the collisionless navigation strategy of the robot.
Further, in above-mentioned air navigation aid, the method also includes:
Navigation topological diagram between the navigation initial position and the destination is updated.
Further, in above-mentioned air navigation aid, the method also includes:
The robot, which is controlled, according to the collisionless navigation strategy of the robot is moved to the destination.
According to the another aspect of the application, a kind of computer-readable medium is additionally provided, is stored thereon with computer-readable
Instruction when the computer-readable instruction can be executed by processor, makes the processor realize such as above-mentioned air navigation aid.
According to the another aspect of the application, a kind of robot is additionally provided, wherein comprising:
One or more processors；
Computer-readable medium, for storing one or more computer-readable instructions,
When one or more of computer-readable instructions are executed by one or more of processors, so that one
Or multiple processors realize such as above-mentioned air navigation aid.
Compared with prior art, the application to robot input navigation by appointing when user needs to navigate to destination
Business, so that robot obtains navigation task, which includes destination；Navigation start bit is determined then according to environmental map
The navigation topological diagram between the destination is set, and Shortest Path Searching is carried out to the navigation topological diagram, obtains described lead
The most short topological path to navigate between initial position and the destination, realize between navigation initial position and destination most
The planning of short topological path；In order to improve path planning efficiency and the real-time in navigation procedure, which obtains according to implementation
The road environment information, the moving parameter information of robot and the most short topological path that take generate the collisionless of the robot
Navigation strategy enables the robot to control robot according to the collisionless navigation strategy and is moved to navigation times without collision
Destination in business, and then the navigation task of user setting is completed without collision.
Detailed description of the invention
By reading a detailed description of non-restrictive embodiments in the light of the attached drawings below, the application's is other
Feature, objects and advantages will become more apparent upon:
Fig. 1 shows a kind of flow diagram of the air navigation aid of robotic end according to the application one aspect；
The same or similar appended drawing reference represents the same or similar component in attached drawing.
Specific embodiment
The application is described in further detail with reference to the accompanying drawing.
In a typical configuration of this application, terminal, the equipment of service network and trusted party include one or more
Processor (CPU), input/output interface, network interface and memory.
Memory may include the non-volatile memory in computer-readable medium, random access memory (RAM) and/or
The forms such as Nonvolatile memory, such as read-only memory (ROM) or flash memory (flash RAM).Memory is computer-readable medium
Example.
Computer-readable medium includes permanent and non-permanent, removable and non-removable media can be by any method
Or technology come realize information store.Information can be computer readable instructions, data structure, the module of program or other data.
The example of the storage medium of computer includes, but are not limited to phase change memory (PRAM), static random access memory (SRAM), moves
State random access memory (DRAM), other kinds of random access memory (RAM), read-only memory (ROM), electric erasable
Programmable read only memory (EEPROM), flash memory or other memory techniques, read-only disc read only memory (CD-ROM) (CD-ROM),
Digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or
Any other non-transmission medium, can be used for storage can be accessed by a computing device information.As defined in this article, computer
Readable medium does not include non-temporary computer readable media (transitory media), such as the data-signal and carrier wave of modulation.
As shown in Figure 1, a kind of flow diagram of air navigation aid of the application one aspect, applied in navigation procedure
Robotic end, the method comprising the steps of S11, step S12, step S13 and step S14, wherein specifically include:
Step S11 obtains navigation task, wherein the navigation task includes destination；For example, when user needs machine
When people navigates and is moved to destination in the current location locating for the robot, user passes through the navigation to robot and inputs operation
Navigation task is generated, which includes the destination of this navigation procedure；Certainly, user inputs behaviour to the navigation of robot
Make either to robot carry out pre-set navigational button man-machine interactive operation come what is completed, be also possible to broadcast by audio
It puts, the mode that video playing and picture are shown parses robot and gets the navigation that user needs robot to be carried out appoints
Business wherein includes the navigation task in the audio, video and picture.
Step S12 determines the navigation topological diagram between navigation initial position and the destination according to environmental map；?
This, the environmental map is the environmental map between the navigation initial position and the destination, including building and building
The relative space relation and building, the public setting in street between relative tertiary location relationship, street furniture between object
Between relative space relation and street greening planning information etc., so as to it is subsequent according to the environmental map can preliminary planning go out to use
In the navigation topological diagram to navigate.
Step S13 carries out Shortest Path Searching to the navigation topological diagram, obtains the navigation initial position and the mesh
Ground between most short topological path, realize to navigation initial position and destination between most short topological path planning,
So as to subsequent basis, the most short topological path cooks up the navigation path and its corresponding between navigation initial position and destination
Collisionless navigation strategy etc..
Step S14, according to the road environment information of acquisition, the moving parameter information of robot and the most short topological path
Generate the collisionless navigation strategy of the robot.
S11 to step S14 through the above steps is not only realized to most short opening up between navigation initial position and destination
The planning for flutterring figure additionally provides the route searching efficiency and real-time of robot during the navigation process, enables the robot
According to the collisionless navigation strategy control robot it is collisionless complete user setting navigation task, thus reach robot from
Navigation initial position collisionless is moved to the purpose of destination.
In the present embodiment, in the step S12 according to environmental map determine navigation initial position and the destination it
Between navigation topological diagram, comprising:
Obtain the environmental map between navigation initial position and the destination, wherein the navigation initial position is by institute
The current location for stating robot determines；
Feasible key point extraction is carried out to the environmental map, is obtained between the navigation initial position and the destination
Feasible key point；
The navigation topological diagram between the navigation initial position and the destination is constructed according to the feasible key point,
In, the navigation topological diagram is used to indicate the topological relation between position and position.
For example, current location locating for robot is determined as navigating after obtaining current location locating for robot
Navigation initial position in task, and obtain the environmental map between navigation initial position and destination, wherein navigation starting
The acquisition modes of environmental map between position and destination may include following two acquisition modes: one, third-party storage
Global context map corresponding to all environmental areas is stored in equipment, when learning navigation initial position and destination, from institute
It states and calls ring in the global context map, being used to indicate between the navigation initial position and destination in storage equipment
The environmental map of border areas case；Two, robot can also be tied using positioning and map structuring algorithm (such as SLAM algorithm etc.)
Close robot and pass through the context dependant information that the sensor installed thereon obtains, come construct and generate the navigation initial position and
Environmental map between destination realizes the acquisition to the environmental map between navigation initial position and destination, here, machine
The sensor installed on people can be include but is not limited to include: radar sensor, laser range sensor, depth transducer,
Infrared sensor, visual sensor and anti-collision sensor etc..Then, using Thiessen polygon algorithm (Voronoi algorithm) or
The key points extraction algorithm such as random algorithm carries out feasible key to the environmental map between the navigation initial position and destination
The extraction of point obtains the feasible key point between the navigation initial position and destination, such as from navigation initial position S to mesh
Ground D between the feasible key point extracted of environmental map sequentially are as follows: P1, P2, P3, P4 ..., Pn, wherein n is navigation
Initial position S is to the quantity of the feasible key point between the D of destination, and certainly, the feasible key point includes navigation initial position
With destination, i.e., feasible key point P1 is the starting key point S, and feasible key point Pn is the destination D.Later, machine
People is according to the feasible key point: P1 (S), P2, P3, P4 ..., Pn (D) construct the navigation initial position S to destination D
Between navigate topological diagram, which is used to indicate between each feasible key point (position) and feasible key point (position)
Topological relation, so that can be by between other one or more feasible key points since the initial position S that navigates
Topological relation, topology to destination D, to realize the structure to navigation initial position S to the navigation topological diagram between the D of destination
It builds.
In the present embodiment, after building obtains the navigation topological diagram between the navigation initial position S and destination D,
Shortest Path Searching is carried out to the navigation topological diagram using Shortest Path Searching Algorithm, obtains the navigation initial position and institute
The most short topological path between destination is stated, can be completed from navigation according to the most short topological path so that robot is subsequent
Beginning position is to the navigation between destination, to improve the navigation efficiency of robot.Here, the Shortest Path Searching Algorithm packet
It includes but is not limited to any one of following: Dijkstra's algorithm (dijkstra's algorithm), Freud's algorithm (Floyd algorithm) and shellfish
Germania Ford algorithm (bellman-ford algorithm).
Then above-described embodiment of the application is in step S14 according to the road environment information of acquisition, robot
Moving parameter information and the most short topological path generate the collisionless navigation strategy of the robot, comprising:
Obtain the movement of the road environment information and the robot between the navigation initial position and the destination
Parameter information；Here, the road environment information include but is not limited to include: road type distributed intelligence, road condition information,
Barrier relevant location information, intersection information and greenbelt distributed intelligence etc. are used to indicate navigation initial position and destination
Between environmental correclation information；The moving parameter information of the robot includes but is not limited to the position letter for including: robot
The relevant information etc. that the sensor installed in breath, movement velocity, mobility model and the robot is collected.
The adjacent feasible key of any two in the most short topological path is generated based on the road environment information
Navigation path between point, wherein the feasible key point includes the navigation initial position and the destination；For example, root
According to most short topological path since initial position of navigating, adjacent feasible pass is successively searched in conjunction with the road environment information obtained in real time
Navigation path between key point obtains the adjacent feasible key of any two in the most short topological path with the navigation rail between you
Mark is to get the navigation path arrived between feasible key point P1 and feasible key point P2, feasible key point P2 and feasible key point P3
Between navigation path, the navigation path ... ... between feasible key point P3 and feasible key point P4, feasible key point P (n-1)
With the navigation path between feasible key point Pn；Then, according to any two in the most short topological path it is adjacent it is described can
Navigation path between row key point: navigation path, feasible key point P2 between feasible key point P1 and feasible key point P2
Navigation path, feasible key point P3 between feasible key point P3 and the navigation path between feasible key point P4 ..., can
The moving parameter information of navigation path and the robot between row key point P (n-1) and feasible key point Pn generates institute
The collisionless navigation strategy of robot is stated, so that robot can realize the speed to robot according to the collisionless navigation strategy
Smoothing processing and the mobile control of collisionless, to complete since navigating initial position S (feasible key point P1) to purpose
Mobile navigation between ground D (feasible key point Pn).
When robot constructs to obtain the navigation initial position S (feasible key point P1) and destination D (the feasible key
Point Pn) between collisionless navigation strategy after, the robot controls the machine according to the collisionless navigation strategy of the robot
Device people is smooth with the fixed speed in strategy and be moved to the destination D without collision since the initial position S that navigates, no
It has been only completed navigation task, control robot collisionless since initial position of navigating has been also achieved and is moved to destination, in turn
Improve navigation efficiency.
Then above-mentioned all embodiments, if being generated in most short topological path based on the road environment information obtained in real time
The adjacent feasible key point of any two between navigation path when, occur searching between two adjacent feasible key points
Less than feasible navigation path, then illustrating can not be mutually reachable between two adjacent feasible key points, then needs to be back to
Navigation is originated according to the environmental map constructed in real time and the road environment information obtained in real time again in the step S12
Feasible key point between position and destination is extracted again, is then reached between navigation initial position and destination
The purpose that is updated of navigation topological diagram so that the adjacent feasible key point of any two in updated navigation topological diagram it
Between can be mutually reachable, to generate the navigation between the adjacent feasible key point of any two in most short topological path
Track.
Then above-mentioned all embodiments of the application, in the movement for combining the road environment information and robot that obtain in real time
Parameter information carrys out the navigation path between the feasible key point for arbitrary neighborhood two in most short topological path and carries out collisionless
When navigation strategy is planned, if the collisionless navigation strategy between all two neighboring feasible key points is not obtained after planning,
The navigation path existed between two neighboring feasible key point can not plan collisionless navigation strategy, then is back to the step
Again according to the environmental map constructed in real time and the road environment information obtained in real time in S12, to navigation initial position and mesh
Ground between feasible key point extracted again, then reach to navigation initial position and destination between navigation topology
The purpose that figure is updated, so that being ok between the adjacent feasible key point of any two in updated navigation topological diagram
It is mutually reachable, so that the navigation path between the adjacent feasible key point of any two in most short topological path is generated, after
And realize to above-mentioned there is no between two neighboring feasible key point corresponding to collisionless navigation strategy other it is reachable and
The trial and search of collisionless navigation strategy, so guarantee the adjacent feasible key point of any two in navigation topological diagram it
Between be all mutually it is reachable.
According to a kind of computer-readable medium that the application provides on the other hand, it is stored thereon with computer-readable finger
It enables, when the computer-readable instruction can be executed by processor, the processor is made to realize the navigation side such as above-mentioned robotic end
Method.
A kind of robot provided on the other hand according to the application, wherein comprising:
One or more processors；
Computer-readable medium, for storing one or more computer-readable instructions,
When one or more of computer-readable instructions are executed by one or more of processors, so that one
Or multiple processors realize the air navigation aid such as above-mentioned robotic end.
Here, the detailed content of each embodiment in the robot for navigation, for details, reference can be made to above-mentioned in machine
The corresponding part of embodiment step S11 in the air navigation aid at people end corresponding into step S14, here, repeating no more.
In conclusion the application inputs navigation task by when user needs to navigate to destination, to robot, so that
Robot obtains navigation task, which includes destination；Navigation initial position and institute are determined then according to environmental map
The navigation topological diagram between destination is stated, and Shortest Path Searching is carried out to the navigation topological diagram, obtains the navigation starting
Most short topological path between position and the destination is realized to the most short topology between navigation initial position and destination
The planning in path；In order to improve the search efficiency and real-time in navigation procedure, which believes according to the road environment of acquisition
Breath, the moving parameter information of robot and the most short topological path generate the collisionless navigation strategy of the robot, so that
The robot can control the collisionless navigation task for completing user setting of robot according to the collisionless navigation strategy.
It should be noted that the application can be carried out in the assembly of software and/or software and hardware, for example, can adopt
With specific integrated circuit (ASIC), general purpose computer or any other realized similar to hardware device.In one embodiment
In, the software program of the application can be executed to implement the above steps or functions by processor.Similarly, the application
Software program (including relevant data structure) can be stored in computer readable recording medium, for example, RAM memory,
Magnetic or optical driver or floppy disc and similar devices.In addition, hardware can be used to realize in some steps or function of the application, example
Such as, as the circuit cooperated with processor thereby executing each step or function.
In addition, a part of the application can be applied to computer program product, such as computer program instructions, when its quilt
When computer executes, by the operation of the computer, it can call or provide according to the present processes and/or technical solution.
And the program instruction of the present processes is called, it is possibly stored in fixed or moveable recording medium, and/or pass through
Broadcast or the data flow in other signal-bearing mediums and transmitted, and/or be stored according to described program instruction operation
In the working storage of computer equipment.Here, including a device according to one embodiment of the application, which includes using
Memory in storage computer program instructions and processor for executing program instructions, wherein when the computer program refers to
When enabling by processor execution, method and/or skill of the device operation based on aforementioned multiple embodiments according to the application are triggered
Art scheme.
It is obvious to a person skilled in the art that the application is not limited to the details of above-mentioned exemplary embodiment, Er Qie
In the case where without departing substantially from spirit herein or essential characteristic, the application can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and scope of the present application is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included in the application.Any reference signs in the claims should not be construed as limiting the involved claims.This
Outside, it is clear that one word of " comprising " does not exclude other units or steps, and odd number is not excluded for plural number.That states in device claim is multiple
Unit or device can also be implemented through software or hardware by a unit or device.The first, the second equal words are used to table
Show title, and does not indicate any particular order.
Claims (11)
1. a kind of air navigation aid, wherein the described method includes:
Obtain navigation task, wherein the navigation task includes destination；
The navigation topological diagram between navigation initial position and the destination is determined according to environmental map；
Shortest Path Searching is carried out to the navigation topological diagram, is obtained between the navigation initial position and the destination most
Short topological path；
The machine is generated according to the road environment information of acquisition, the moving parameter information of robot and the most short topological path
The collisionless navigation strategy of people.
2. according to the method described in claim 1, wherein, according to environmental map determine navigation initial position and the destination it
Between navigation topological diagram, comprising:
Obtain the environmental map between navigation initial position and the destination, wherein the navigation initial position is by the machine
The current location of device people determines；
Feasible key point extraction is carried out to the environmental map, obtain between the navigation initial position and the destination can
Row key point；
The navigation topological diagram between the navigation initial position and the destination is constructed according to the feasible key point, wherein
The navigation topological diagram is used to indicate the topological relation between position and position.
3. according to the method described in claim 2, wherein, with obtaining the environment between navigation initial position and the destination
Figure, comprising:
The environmental map between the navigation initial position and the destination is obtained from storage equipment；Or,
Construct using positioning and map structuring algorithm and with generating the environment to navigate between initial position and the destination
Figure.
4. being obtained described according to the method described in claim 2, wherein, carrying out feasible key point extraction to the environmental map
The feasible key point navigated between initial position and the destination, comprising:
Feasible key point extraction is carried out to the environmental map using Thiessen polygon nomography, obtains the navigation initial position
Feasible key point between the destination.
5. being obtained described according to the method described in claim 1, wherein, carrying out Shortest Path Searching to the navigation topological diagram
The most short topological path to navigate between initial position and the destination, comprising:
Shortest Path Searching is carried out to the navigation topological diagram using Shortest Path Searching Algorithm, obtains the navigation initial position
Most short topological path between the destination.
6. according to the method described in claim 5, wherein, the Shortest Path Searching Algorithm includes any one of following:
Dijkstra's algorithm, Freud's algorithm and the graceful Ford algorithm of Bell.
7. according to the method described in claim 1, wherein, being believed according to the kinematic parameter of the road environment information of acquisition, robot
Breath and the most short topological path generate the collisionless navigation strategy of the robot, comprising:
Obtain the kinematic parameter of the road environment information and the robot between the navigation initial position and the destination
Information；
Based on the road environment information generate the adjacent feasible key point of any two in the most short topological path it
Between navigation path, wherein the feasible key point includes the navigation initial position and the destination；
According to the navigation path and the machine between the adjacent feasible key point of any two in the most short topological path
The moving parameter information of device people generates the collisionless navigation strategy of the robot.
8. method according to any one of claim 1 to 7, wherein the method also includes:
Navigation topological diagram between the navigation initial position and the destination is updated.
9. method according to any one of claim 1 to 8, wherein the method also includes:
The robot, which is controlled, according to the collisionless navigation strategy of the robot is moved to the destination.
10. a kind of computer-readable medium, is stored thereon with computer-readable instruction, the computer-readable instruction can be processed
When device executes, the processor is made to realize method as claimed in any one of claims 1-9 wherein.
11. a kind of robot, wherein comprising:
One or more processors；
Computer-readable medium, for storing one or more computer-readable instructions,
When one or more of computer-readable instructions are executed by one or more of processors, so that one or more
A processor realizes method as claimed in any one of claims 1-9 wherein.
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| CN110174108A (en) * | 2019-05-13 | 2019-08-27 | 杭州蓝芯科技有限公司 | A kind of AGV autonomous positioning air navigation aid based on topological map of apery |
| CN110703747A (en) * | 2019-10-09 | 2020-01-17 | 武汉大学 | Robot autonomous exploration method based on simplified generalized Voronoi diagram |
| CN110967028A (en) * | 2019-11-26 | 2020-04-07 | 深圳优地科技有限公司 | Navigation map construction method and device, robot and storage medium |
| CN111750862A (en) * | 2020-06-11 | 2020-10-09 | 深圳优地科技有限公司 | Multi-region-based robot path planning method, robot and terminal equipment |
| CN111860880A (en) * | 2020-06-01 | 2020-10-30 | 北京骑胜科技有限公司 | Path determining method and device, electronic equipment and storage medium |
| CN111912411A (en) * | 2020-08-26 | 2020-11-10 | 中国电力科学研究院有限公司 | Robot navigation positioning method, system and storage medium |
| CN115143967A (en) * | 2022-07-20 | 2022-10-04 | 中国工商银行股份有限公司 | Robot fixed point navigation method and device |
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