一种基于凸壳的智能服务机器人路径规划算法

将一种基于凸壳的路径规划算法应用于体育场智能服务机器人,首先采用基于Haar特征分类器的方法确定球的坐标,采用基于颜色模型的方法确定机器人的位置及航向,并根据机器人的自身特点,将一定范围内的多个球视为一个目标点处理;然后以目标点坐标作为算法输入,采用基于凸壳的路径规划算法得到一条较优的捡球路径.该算法可以降低机器人的捡球运动代价,有效提高机器人的捡球效率.

A Path Planning Algorithm Based on Convex Hull for Autonomous Service Robot

A path planning algorithm based on convex hull is applied to autonomous service robot in this paper.Firstly,the coordinates of ball positions are determined by using Haar-like features classifier,the coordinate of robot’s position and its heading are determined by using the method based on color model.According to the features of the robot itself,the balls in a certain range can be treated as one target point.Then a better ball-picking path is elaborated with a path planning algorithm based on convex hull,which takes the target points as the input of algorithm.The algorithm alleviates the robot’s motion cost and improves the ball-picking efficiency of the autonomous service robot obviously.