Air-ground heterogeneous robot system path planning method based on neighborhood constraint
US10459437B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Apr 1, 2017 |
| Grant date | Oct 29, 2019 |
| Priority date | — |
| Expiry date | Apr 26, 2037 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY10S901/01
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
The present invention relates to an air-ground heterogeneous robot system path planning method based on a neighborhood constraint. A smallest heterogeneous robot system is formed by a ground mobile robot and an air flying robot. The steps of the method include the ground mobile robot and the air flying robot start from a start point at the same time, successively access N sub-task points for executing sub-tasks and finally reach a destination together. In the present invention, it is considered that the position of each sub-task point is allowed to be effective in a certain neighborhood, and a neighborhood constraint is introduced. In addition, the maximum speed constraints are considered respectively for the air flying robot and the ground mobile robot. In the present invention, the air-ground heterogeneous robot system is enabled to fully utilize respective characteristics to realize advantage complementation, tasks are completed within a specific neighborhood range, the efficiency of path planning is improved, resources are saved, and the air-ground heterogeneous robot system path planning method is applicable to the fields such as marine cooperative rapid rescue, target identif…
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.