Robot path planning method and robot for planning route

A path planning and robotics technology, applied in the field of robotics, can solve problems such as the inability of robots to specify routes, and achieve the effects of improving autonomous obstacle avoidance capabilities, efficient search, and clear directions
CN106406320BInactive Publication Date: 2019-08-20重庆重智机器人研究院有限公司
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
重庆重智机器人研究院有限公司
Publication Date
2019-08-20
Estimated Expiration
Not applicable · inactive patent

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Abstract

Embodiments of the invention provide a robot path planning method and a robot planning a route. The method comprises the following steps of according to a pose of a robot and control information of a speedometer, acquiring an initial pose of the robot; according to the initial pose and data observed by a sensor, creating a prior map; according to a rapid expansion tree algorithm of adaptive adjustment, calculating a global path used to control walking of the robot in the prior map; acquiring real-time detection data of the sensor of the robot, and determining whether the sensor detects a barrier in the global path when the robot is in a walking process; and when the sensor detects the barrier in the global path, establishing a dynamic window model to plan a local barrier avoiding route of the robot so as to make the robot avoid the barrier according to the local barrier avoiding route.
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Description

technical field

[0001] The invention relates to the field of robots, in particular, to a robot path planning method and a robot for planning a route. Background technique

[0002] With the rapid development of computer technology, sensor technology, artificial intelligence and other technologies, robot technology has become more and more mature, and among them, mobile robots are the most widely used and play an increasingly important role in many industries such as household services, aerospace, and industry. The more important the role, these various robots are able to do the job well in a given environment.

[0003] However, there are still many shortcomings in the current robot. Because in most cases, the working environment of the robot is unknown or uncertain, but the current robot can not complete the specified route well in the unfamiliar environment. SUMMARY OF THE INVENTION

[0004] In view of this, the purpose of the embodiments of the present invention is to p...

Claims

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