CN109059903A - Paths planning method and distributed robot - Google Patents
Paths planning method and distributed robot Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0217—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with energy consumption, time reduction or distance reduction criteria
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Abstract
This application discloses a kind of paths planning method and distributed robots.This method comprises: obtaining the position of each barrier in scene map；According to demand set by user, the position, preset path is adjusted, so that path adjusted is not overlapped with the position；And instruction of advancing is executed according to path adjusted.By the above method, since path adjusted is not overlapped with barrier position, be conducive to the influence for making distributed robot not will receive barrier in subsequent traveling process, to be conducive to improve the probability that distributed robot smoothly arrives at the destination.
Description
Technical field
This application involves electronic control technology fields, in particular to a kind of paths planning method and distributed robot.
Background technique
Distributed robot needs to advance according to preset path during traveling, if preset path and user
When demand difference, distributed robot needs to be adjusted preset path, but may have obstacle on path adjusted
Object possibly can not arrive at the destination to influence the traveling of distributed robot so as to cause distributed robot.
Summary of the invention
The main purpose of the application is to provide a kind of paths planning method and distributed robot, to improve distributed robot
The probability smoothly to arrive at the destination.
To achieve the goals above, this application provides a kind of paths planning methods, comprising:
Obtain the position of each barrier in scene map；
According to demand set by user, the position, preset path is adjusted so that path adjusted with it is described
Position is not overlapped；And
Instruction of advancing is executed according to path adjusted.
Optionally, the position for obtaining each barrier in scene map includes:
The barrier is positioned, to determine position of the barrier in scene map.
Optionally, according to demand set by user, the position, preset path is adjusted, so that road adjusted
Diameter is not overlapped with the position
When the demand set by user is to reduce duplicate paths, according to the position of destination each in the preset path
It sets, is determined to successively reach all path candidates of each destination；
Select the path not being overlapped with the position as destination path from all path candidates；
All destination paths are compared, using the least path candidate of duplicate paths as travel path；And
The preset path is adjusted to the travel path.
Optionally, according to demand set by user, the position, preset path is adjusted, so that road adjusted
Diameter is not overlapped with the position
When the demand set by user be it is time-consuming most in short-term, according to the position of destination each in the preset path, really
Surely all path candidates of each destination can successively be reached；
Select the path not being overlapped with the position as destination path from all path candidates；
Calculate the duration consumed when each destination path is advanced according to specified travel speed and turning rate；
Each duration is compared, will most grow corresponding path in short-term as travel path；And
The preset path is adjusted to the travel path.
Optionally, according to path adjusted execute advance instruction when, the distributed robot just facing towards with traveling
Direction is identical or the distributed robot back side is towards identical as direction of travel.
To achieve the goals above, this application provides a kind of distributed robots, comprising:
Acquiring unit, for obtaining the position of each barrier in scene map；
Path adjustment unit, for being adjusted to preset path according to demand set by user, the position, so that
Path adjusted is not overlapped with the position；
Traveling unit, for executing instruction of advancing according to path adjusted.
Optionally, in the acquiring unit for being used for when obtaining the position of each barrier in scene map:
The barrier is positioned, to determine position of the barrier in scene map.
Optionally, the path adjustment unit is used to carry out preset path according to demand set by user, the position
When adjustment, it is used for:
When the demand set by user is to reduce duplicate paths, according to the position of destination each in the preset path
It sets, is determined to successively reach all path candidates of each destination；
Select the path not being overlapped with the position as destination path from all path candidates；
All destination paths are compared, using the least path candidate of duplicate paths as travel path；
The preset path is adjusted to the travel path.
Optionally, the path adjustment unit is used to carry out preset path according to demand set by user, the position
When adjustment, it is used for:
When the demand set by user be it is time-consuming most in short-term, according to the position of destination each in the preset path, really
Surely all path candidates of each destination can successively be reached；
Select the path not being overlapped with the position as destination path from all path candidates；
Calculate the duration consumed when each destination path is advanced according to specified travel speed and turning rate；
Each duration is compared, will most grow corresponding path in short-term as travel path；
The preset path is adjusted to the travel path.
Optionally, according to path adjusted execute advance instruction when, the distributed robot just facing towards with traveling
Direction is identical or the distributed robot back side is towards identical as direction of travel.
The technical solution that embodiments herein provides can include the following benefits:
In this application, in getting scene map behind the position of each barrier, according to demand set by user and upper
The position stated, is adjusted preset path, and is overlapped path adjusted not with the position of barrier, therefore in delivery machine
When device people executes traveling instruction according to path adjusted, barrier influence not will receive, when distributed robot is according to default road
When diameter is advanced, if after being influenced by barrier, can be adjusted according to the above method to preset path, and due to adjustment
Path afterwards is not overlapped with barrier position, therefore is conducive to make distributed robot will not be by subsequent traveling process
To the influence of barrier, to be conducive to improve the probability that distributed robot smoothly arrives at the destination, also, to preset path
When being adjusted, it is also necessary to be adjusted according to demand set by user, for example, when demand set by user is to reduce to repeat road
When diameter, distributed robot advantageously reduces the duplicate paths of distributed robot, to have when advancing according to path adjusted
Conducive to the efficiency improved when distributed robot executes task.
Detailed description of the invention
The attached drawing constituted part of this application is used to provide further understanding of the present application, so that the application's is other
Feature, objects and advantages become more apparent upon.The illustrative examples attached drawing and its explanation of the application is for explaining the application, not
Constitute the improper restriction to the application.In the accompanying drawings:
Fig. 1 is a kind of flow diagram of paths planning method provided by the present application；
Fig. 2 is the flow diagram of another paths planning method provided by the present application；
Fig. 3 is the flow diagram of another paths planning method provided by the present application；
Fig. 4 is a kind of structural schematic diagram of distributed robot provided by the present application.
Specific embodiment
In order to make those skilled in the art more fully understand application scheme, below in conjunction in the embodiment of the present application
Attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is only
The embodiment of the application a part, instead of all the embodiments.Based on the embodiment in the application, ordinary skill people
Member's every other embodiment obtained without making creative work, all should belong to the model of the application protection
It encloses.
It should be noted that the description and claims of this application and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so as to embodiments herein described herein.In addition, term " includes " and " tool
Have " and their any deformation, it is intended that cover it is non-exclusive include, for example, containing a series of steps or units
Process, method, system, product or equipment those of are not necessarily limited to be clearly listed step or unit, but may include without clear
Other step or units listing to Chu or intrinsic for these process, methods, product or equipment.
In this application, term " on ", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outside",
" in ", "vertical", "horizontal", " transverse direction ", the orientation or positional relationship of the instructions such as " longitudinal direction " be orientation based on the figure or
Positional relationship.These terms are not intended to limit indicated dress primarily to better describe the application and embodiment
Set, element or component must have particular orientation, or constructed and operated with particular orientation.
Also, above-mentioned part term is other than it can be used to indicate that orientation or positional relationship, it is also possible to for indicating it
His meaning, such as term " on " also are likely used for indicating certain relations of dependence or connection relationship in some cases.For ability
For the those of ordinary skill of domain, the concrete meaning of these terms in this application can be understood as the case may be.
In addition, term " installation ", " setting ", " being equipped with ", " connection ", " connected ", " socket " shall be understood in a broad sense.For example,
It may be a fixed connection, be detachably connected or monolithic construction；It can be mechanical connection, or electrical connection；It can be direct phase
It even, or indirectly connected through an intermediary, or is two connections internal between device, element or component.
For those of ordinary skills, the concrete meaning of above-mentioned term in this application can be understood as the case may be.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
Fig. 1 be a kind of flow diagram of paths planning method provided by the present application, as shown in Figure 1, this method include with
Lower step:
101, the position of each barrier in scene map is obtained.
It should be noted that specific scene map can be set according to actual needs, for example, scene map can be with
For the scene map of the scene map of school, the scene map in market or hotel, specific scene map is not done specifically herein
It limits.
It needs to be noted again that, barrier can cause the traveling of distributed robot to be all in scene map
The object of influence, for example, desk, statue, the object temporarily placed in channel etc., specific barrier can be according to actual needs
It is set, is not specifically limited herein.
102, according to demand set by user, the position, preset path is adjusted so that path adjusted with
The position is not overlapped.
It should be noted that demand set by user can be set according to the actual demand of user, does not do have herein
Body limits.
103, instruction of advancing is executed according to path adjusted.
In this application, in getting scene map behind the position of each barrier, according to demand set by user and upper
The position stated, is adjusted preset path, and is overlapped path adjusted not with the position of barrier, therefore in delivery machine
When device people executes traveling instruction according to path adjusted, barrier influence not will receive, when distributed robot is according to default road
When diameter is advanced, if after being influenced by barrier, can be adjusted according to the above method to preset path, and due to adjustment
Path afterwards is not overlapped with barrier position, therefore is conducive to make distributed robot will not be by subsequent traveling process
To the influence of barrier, to be conducive to improve the probability that distributed robot smoothly arrives at the destination, also, to preset path
When being adjusted, it is also necessary to be adjusted according to demand set by user, for example, when demand set by user is to reduce to repeat road
When diameter, distributed robot advantageously reduces the duplicate paths of distributed robot, to have when advancing according to path adjusted
Conducive to the efficiency improved when distributed robot executes task.
In a feasible embodiment, when executing step 101, the barrier can be positioned, with true
Determine position of the barrier in scene map.
Specifically, if barrier be it is fixed, barrier can be positioned according to the setting position of barrier,
If barrier is temporarily placed, barrier can be positioned by photographic device acquired image, for example, to figure
It, can basis about the specific method positioned to barrier to determine position that barrier is specifically placed as being analyzed
Actual needs is set, and is not specifically limited herein.
In a feasible embodiment, Fig. 2 is the process signal of another paths planning method provided by the present application
Figure, when executing step 102, as shown in Fig. 2, when the demand set by user be reduction duplicate paths when, can by with
Lower step is realized:
201, it according to the position of destination each in the preset path, is determined to successively reach the institute of each destination
There is path candidate.
202, select the path not being overlapped with the position as destination path from all path candidates.
203, all destination paths are compared, using the least path candidate of duplicate paths as travel path.
204, the preset path is adjusted to the travel path.
Specifically, planning path again is needed when distributed robot is influenced not moving by barrier, in delivery machine
People again planning path when, can be planned again according to demand set by user, so that the path after planning meets user's
Demand, when demand set by user is to reduce duplicate paths, it is desirable that distributed robot reduces duplicate paths to the greatest extent, is sent with improving
The efficiency that goods robot executes task needs to obtain distributed robot's present bit when according to above-mentioned requirements planning path again
Path candidate all when successively arriving each destination is set, i.e. every path candidate can make distributed robot successively reach each mesh
Ground influenced to make distributed robot no longer by barrier after determining all path candidates, need from candidate road
The path not being overlapped with the position of barrier is filtered out in diameter as destination path, due to area of the destination path on scene map
Domain is not repeated with the position of barrier, therefore no matter distributed robot along the traveling of which destination path not will receive barrier
It influences, since demand set by user is to reduce duplicate paths, therefore, it is necessary to be screened again to destination path, i.e., to all
Destination path is compared, using the least path candidate of duplicate paths as travel path, it should be noted that about specific
Way of contrast can be set according to actual needs, be not specifically limited herein, after determining travel path, can will
Preset path is adjusted to travel path, and distributed robot can continue on according to travel path at this time.
In a feasible embodiment, Fig. 3 is the process signal of another paths planning method provided by the present application
Figure, when executing step 102, as shown in figure 3, when the demand set by user be time-consuming most in short-term, can be by following
Step is realized:
301, it according to the position of destination each in the preset path, is determined to successively reach the institute of each destination
There is path candidate.
302, select the path not being overlapped with the position as destination path from all path candidates.
303, the duration consumed when each destination path is advanced according to specified travel speed and turning rate is calculated；
304, each duration is compared, will most grows corresponding path in short-term as travel path.
305, the preset path is adjusted to the travel path.
Specifically, planning path again is needed when distributed robot is influenced not moving by barrier, in delivery machine
People again planning path when, can be planned again according to demand set by user, so that the path after planning meets user's
Demand, when demand set by user be it is time-consuming most in short-term, it is desirable that distributed robot's time-consuming when completing all tasks is most short, to mention
The efficiency that high distributed robot executes task needs to obtain distributed robot and works as when according to above-mentioned requirements planning path again
Path candidate all when each destination is successively arrived in front position, i.e. every path candidate can be such that distributed robot successively reaches
Each destination is influenced by barrier in order to make distributed robot no longer, is needed from time after determining all path candidates
The path not being overlapped with the position of barrier is filtered out in routing diameter as destination path, since destination path is on scene map
Region do not repeated with the position of barrier, therefore no matter distributed robot along the traveling of which destination path not will receive obstacle
The influence of object, since demand set by user is travel speed and turning rate that be time-consuming most short, specifying therefore, it is necessary to basis
Consumed duration, is then compared each duration when advancing to simulate according to each destination path, time-consuming most short to determine
Destination path as travel path, it should be noted that can be set according to actual needs about specific way of contrast
It is fixed, it is not specifically limited herein, after determining travel path, preset path can be adjusted to travel path, at this time delivery
Robot can be continued on according to travel path.
In a feasible embodiment, when executing traveling instruction according to path adjusted, the delivery machine
People is just facing towards and direction of travel is identical or the distributed robot back side is towards identical as direction of travel.
Specifically, distributed robot has positive (direction of travel of distributed robot and the front of distributed robot of advancing
Towards identical) and the function of (direction of travel of distributed robot and distributed robot just facing towards opposite) is fallen back and advances, with
Just distributed robot has a variety of traveling modes during traveling, reduce distributed robot make excessively waste time it is dynamic
Make, for example, currently have A point and B point, distributed robot is after from A point to B point, at this time distributed robot just facing towards with from A point
Extending direction to B point is identical, in the prior art, if distributed robot is allowed to return to A point from B point, needs delivery machine
People complete turning action, make distributed robot just facing towards with from B point to the extending direction of A point it is identical after, can just continue
It advances, since the more time can be wasted when distributed robot's turning, when being unfavorable for improving distributed robot's execution task
Efficiency, in this application, distributed robot can without turning, directly exercise fall back traveling function, so that it may from B
Point returns to A point, to be conducive to improve efficiency when distributed robot executes task.
Fig. 4 is a kind of structural schematic diagram of distributed robot provided by the present application, as shown in figure 4, the distributed robot wraps
It includes:
Acquiring unit 41, for obtaining the position of each barrier in scene map；
Path adjustment unit 42, for being adjusted to preset path according to demand set by user, the position, with
It is overlapped path adjusted not with the position；
Traveling unit 43, for executing instruction of advancing according to path adjusted.
In a feasible embodiment, it is used to obtain the position of each barrier in scene map in the acquiring unit 41
When setting, it is used for:
The barrier is positioned, to determine position of the barrier in scene map.
In a feasible embodiment, the path adjustment unit 42 is used for according to demand set by user, described
Position when being adjusted to preset path, is used for:
When the demand set by user is to reduce duplicate paths, according to the position of destination each in the preset path
It sets, is determined to successively reach all path candidates of each destination；
Select the path not being overlapped with the position as destination path from all path candidates；
All destination paths are compared, using the least path candidate of duplicate paths as travel path；
The preset path is adjusted to the travel path.
In a feasible embodiment, the path adjustment unit 42 is used for according to demand set by user, described
Position when being adjusted to preset path, is used for:
When the demand set by user be it is time-consuming most in short-term, according to the position of destination each in the preset path, really
Surely all path candidates of each destination can successively be reached；
Select the path not being overlapped with the position as destination path from all path candidates；
Calculate the duration consumed when each destination path is advanced according to specified travel speed and turning rate；
Each duration is compared, will most grow corresponding path in short-term as travel path；
The preset path is adjusted to the travel path.
In a feasible embodiment, when executing traveling instruction according to path adjusted, the delivery machine
People is just facing towards and direction of travel is identical or the distributed robot back side is towards identical as direction of travel.
The concrete mode of operation is executed in the embodiment of the method about each unit in above-described embodiment
It is described in detail, no detailed explanation will be given here.
In this application, in getting scene map behind the position of each barrier, according to demand set by user and upper
The position stated, is adjusted preset path, and is overlapped path adjusted not with the position of barrier, therefore in delivery machine
When device people executes traveling instruction according to path adjusted, barrier influence not will receive, when distributed robot is according to default road
When diameter is advanced, if after being influenced by barrier, can be adjusted according to the above method to preset path, and due to adjustment
Path afterwards is not overlapped with barrier position, therefore is conducive to make distributed robot will not be by subsequent traveling process
To the influence of barrier, to be conducive to improve the probability that distributed robot smoothly arrives at the destination, also, to preset path
When being adjusted, it is also necessary to be adjusted according to demand set by user, for example, when demand set by user is to reduce to repeat road
When diameter, distributed robot advantageously reduces the duplicate paths of distributed robot, to have when advancing according to path adjusted
Conducive to the efficiency improved when distributed robot executes task.
The foregoing is merely preferred embodiment of the present application, are not intended to limit this application, for the skill of this field
For art personnel, various changes and changes are possible in this application.Within the spirit and principles of this application, made any to repair
Change, equivalent replacement, improvement etc., should be included within the scope of protection of this application.
Claims (10)
1. a kind of paths planning method characterized by comprising
Obtain the position of each barrier in scene map；
According to demand set by user, the position, preset path is adjusted, so that path adjusted and the position
It is not overlapped；And
Instruction of advancing is executed according to path adjusted.
2. the method as described in claim 1, which is characterized in that the position for obtaining each barrier in scene map includes:
The barrier is positioned, to determine position of the barrier in scene map.
3. the method as described in claim 1, which is characterized in that according to demand set by user, the position, to preset path
It is adjusted, so that path adjusted is not overlapped with the position includes:
When the demand set by user is to reduce duplicate paths, according to the position of destination each in the preset path, really
Surely all path candidates of each destination can successively be reached；
Select the path not being overlapped with the position as destination path from all path candidates；
All destination paths are compared, using the least path candidate of duplicate paths as travel path；And
The preset path is adjusted to the travel path.
4. the method as described in claim 1, which is characterized in that according to demand set by user, the position, to preset path
It is adjusted, so that path adjusted is not overlapped with the position includes:
When the demand set by user be it is time-consuming most in short-term, according to the position of destination each in the preset path, determine energy
Enough all path candidates for successively reaching each destination；
Select the path not being overlapped with the position as destination path from all path candidates；
Calculate the duration consumed when each destination path is advanced according to specified travel speed and turning rate；
Each duration is compared, will most grow corresponding path in short-term as travel path；And
The preset path is adjusted to the travel path.
5. the method as described in claim 1, which is characterized in that described when executing traveling instruction according to path adjusted
Distributed robot is just facing towards and direction of travel is identical or the distributed robot back side is towards identical as direction of travel.
6. a kind of distributed robot characterized by comprising
Acquiring unit, for obtaining the position of each barrier in scene map；
Path adjustment unit, for being adjusted to preset path according to demand set by user, the position, so that adjustment
Path afterwards is not overlapped with the position；
Traveling unit, for executing instruction of advancing according to path adjusted.
7. distributed robot as claimed in claim 6, which is characterized in that in the acquiring unit for obtaining in scene map
When the position of each barrier, it is used for:
The barrier is positioned, to determine position of the barrier in scene map.
8. distributed robot as claimed in claim 6, which is characterized in that the path adjustment unit according to user for setting
Demand, the position, when being adjusted to preset path, be used for:
When the demand set by user is to reduce duplicate paths, according to the position of destination each in the preset path, really
Surely all path candidates of each destination can successively be reached；
Select the path not being overlapped with the position as destination path from all path candidates；
All destination paths are compared, using the least path candidate of duplicate paths as travel path；
The preset path is adjusted to the travel path.
9. path adjustment unit as claimed in claim 6, which is characterized in that the path adjustment unit according to user for setting
Fixed demand, the position, when being adjusted to preset path, are used for:
When the demand set by user be it is time-consuming most in short-term, according to the position of destination each in the preset path, determine energy
Enough all path candidates for successively reaching each destination；
Select the path not being overlapped with the position as destination path from all path candidates；
Calculate the duration consumed when each destination path is advanced according to specified travel speed and turning rate；
Each duration is compared, will most grow corresponding path in short-term as travel path；
The preset path is adjusted to the travel path.
10. distributed robot as claimed in claim 6, which is characterized in that executing instruction of advancing according to path adjusted
When, the distributed robot is just facing towards the direction of the identical or described distributed robot back side with direction of travel and direction of travel
It is identical.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109889447A (en) * | 2019-01-08 | 2019-06-14 | 北京全路通信信号研究设计院集团有限公司 | Network transmission method and system based on hybrid ring networking and fountain codes |
| CN112256025A (en) * | 2020-10-12 | 2021-01-22 | 北京字节跳动网络技术有限公司 | Equipment control method and device and electronic equipment |
| TWI837727B (en) * | 2022-07-11 | 2024-04-01 | 國立高雄科技大學 | Service robot path optimization method |
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| CN109889447A (en) * | 2019-01-08 | 2019-06-14 | 北京全路通信信号研究设计院集团有限公司 | Network transmission method and system based on hybrid ring networking and fountain codes |
| CN109889447B (en) * | 2019-01-08 | 2021-02-19 | 北京全路通信信号研究设计院集团有限公司 | Network transmission method and system based on hybrid ring networking and fountain codes |
| CN112256025A (en) * | 2020-10-12 | 2021-01-22 | 北京字节跳动网络技术有限公司 | Equipment control method and device and electronic equipment |
| TWI837727B (en) * | 2022-07-11 | 2024-04-01 | 國立高雄科技大學 | Service robot path optimization method |
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Application publication date: 20181221 |