http://rdf.ncbi.nlm.nih.gov/pubchem/patent/CN-108153310-B
Outgoing Links
| Predicate | Object |
|---|---|
| classificationCPCInventive | http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/G05D1-0214 |
| classificationIPCInventive | http://rdf.ncbi.nlm.nih.gov/pubchem/patentipc/G05D1-02 |
| filingDate | 2017-12-22-04:00^^<http://www.w3.org/2001/XMLSchema#date> |
| grantDate | 2020-11-13-04:00^^<http://www.w3.org/2001/XMLSchema#date> |
| publicationDate | 2020-11-13-04:00^^<http://www.w3.org/2001/XMLSchema#date> |
| publicationNumber | CN-108153310-B |
| titleOfInvention | Mobile robot real-time motion planning method based on human behavior simulation |
| abstract | The invention provides a real-time motion planning method of a mobile robot based on human behavior simulation, which mainly comprises the following steps: the multi-layer anthropomorphic behavior path planning framework simulates the functions of a human brain, human eyes and human legs and correspondingly sets global layer path planning, perception layer path planning and execution layer path planning based on a behavior mode of human planning; the integrity adjustable track planning algorithm provides a high-efficiency track planning algorithm with integrity guarantee, and a track planned by applying the algorithm can simultaneously meet the kinematic constraint and environmental constraint conditions of a robot; and the dynamic monitoring and behavior recovery strategy is used for dynamically monitoring the safety distance range in front of the robot in real time, and if an emergency occurs, the behavior recovery strategy is adopted, so that the safety is effectively ensured, and the robustness is improved. The invention can realize the real-time motion planning of the mobile robot in large-scale, dynamically-changed, partially-unknown and unstructured indoor environment. |
| priorityDate | 2017-12-22-04:00^^<http://www.w3.org/2001/XMLSchema#date> |
| type | http://data.epo.org/linked-data/def/patent/Publication |
Incoming Links
| Predicate | Subject |
|---|---|
| isDiscussedBy | http://rdf.ncbi.nlm.nih.gov/pubchem/compound/CID11178 http://rdf.ncbi.nlm.nih.gov/pubchem/substance/SID454006091 |
Total number of triples: 12.