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.
Air-ground heterogeneous robot system path planning method based on neighborhood constraint
2019-10-29
Patent
Electronic Resource
English
IPC: | A01B SOIL WORKING IN AGRICULTURE OR FORESTRY , Bodenbearbeitung in Land- oder Forstwirtschaft / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B64C AEROPLANES , Flugzeuge / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / B64F GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT , Boden- oder Flugzeugträgerdeckeinrichtungen besonders ausgebildet für die Verwendung in Verbindung mit Luftfahrzeugen / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
AIR-GROUND HETEROGENEOUS ROBOT SYSTEM PATH PLANNING METHOD BASED ON NEIGHBORHOOD CONSTRAINT
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