Sampling method and system for path planning of mobile robot in man-machine environment
US11846511B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Apr 28, 2020 |
| Grant date | Dec 19, 2023 |
| Priority date | — |
| Expiry date | May 1, 2041 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05D1/0214
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
The invention relates to a sampling method and system for path planning of a mobile robot in a man-machine environment, including: calculating a distance between a node and the closest obstacle on a map, simultaneously detecting a pedestrian in an environment and marking a position of the pedestrian; selecting a starting point position as a root node, and initializing a search tree; choosing a candidate node in a passable region, calculating a cumulative cost from a node to the candidate node, and choosing a node with the lowest cost as a growth node; performing collision detection on a connecting line between the growth and the candidate nodes, and determining whether collision detection succeeds; connecting the candidate node to the growth node, and determining whether the candidate node is a goal; and acquiring a node connecting line set from the root node to the goal to form a final path.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.