Air-ground heterogeneous robot system path planning method based on neighborhood constraint

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United States of America Patent

PATENT NO 10459437
APP PUB NO 20180267524A1
SERIAL NO

15739756

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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 identification and communication networking, cooperative environment sensing and positioning, so that the method has a wide application prospect.

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Patent Owner(s)

Patent OwnerAddress
WUHAN UNIVERSITY OF SCIENCE AND TECHNOLOGYSCHOOL OF MARXISM WUHAN UNIVERSITY OF SCIENCE AND TECHNOLOGY 947 HEPING AVENUE WUHAN HUBEI PROVINCE WUHAN CITY HUBEI PROVINCE 430065

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Inventor(s)

Inventor Name Address # of filed Patents Total Citations
Chen, Yang Hubei, CN 157 1212
Cheng, Lei Hubei, CN 40 197
Jiang, Minghao Hubei, CN 3 7
Long, Wen Hubei, CN 3 1
Tan, Yanping Hubei, CN 1 0
Wu, Huaiyu Hubei, CN 1 0

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