Sampling method and system for path planning of mobile robot in man-machine environment

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United States of America Patent

PATENT NO 11846511
APP PUB NO 20220316885A1
SERIAL NO

17427646

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Abstract

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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.

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Patent Owner(s)

Patent OwnerAddress
SOOCHOW UNIVERSITYNO 1 JIUYONG WEST ROAD WUJIANG DISTRICT SUZHOU CITY JIANGSU PROVINCE 215200 SUZHOU CITY JIANGSU PROVINCE 215200

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Inventor(s)

Inventor Name Address # of filed Patents Total Citations
Chen, Guodong Suzhou, CN 97 291
Chi, Wenzheng Suzhou, CN 1 1
Ding, Zhiyu Suzhou, CN 1 1
Sun, Lining Suzhou, CN 27 201

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