108results about How to "Improve escape performance" patented technology

The invention belongs to the technical field of path planning and robot motion planning, and particularly relates to a multi-strategy fusion improved RRT * sampling planning method and device and a storage medium, and the method comprises the steps: constructing a dual-search tree through a starting point and a target point in a three-dimensional working space, and selecting a to-be-expanded search tree through a random mode; halton-Bridge mixed sampling is adopted to generate sampling points, so that the global coverage uniformity is improved, and the narrow channel sampling capability is enhanced; calculating the dynamic step length of the exponential decay based on the local obstacle proportion; adopting a hierarchical guidance expansion strategy, preferentially expanding towards a target, introducing an improved artificial potential field to guide expansion when the expansion fails, and taking the bottom with random expansion; performing RRT * neighborhood father node reselection and reconnection optimization on the new node; greedy pruning, self-adaptive interpolation and cubic B-spline smoothing are carried out on a path after the double trees are connected, and an executable smoothing track is output; according to the scheme, planning efficiency, success rate and path quality are improved.

The invention discloses a mowing machine escape method, device and equipment and a medium, which are applied to a mowing machine and comprise the following steps: acquiring equipment state information and equipment environment information of the mowing machine; judging whether the mower is in a trapped state or not based on the equipment state information; when the mower is in a trapped state, sending assistance information to the user based on the equipment state information and the equipment environment information; a candidate control instruction of the user is obtained, the mower is controlled to get out of trouble based on the candidate control instruction, and the candidate control instruction is generated by the user in response to the assistance information. According to the method, the equipment state is acquired in real time to accurately identify whether the mower is trapped in the trapped state, and the assistance information is sent to the user in time when the mower is trapped in the trapped state, so that the user assists in completing the de-trapping operation, the de-trapping capability of the mower in a complex terrain is effectively improved, and the user experience is improved. Equipment damage or operation interruption caused by autonomous escape failure is avoided, and the escape efficiency of the mower is improved.