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A path navigation method, chip and robot

A path navigation and path technology, applied in the field of robots, can solve problems such as reducing travel efficiency, increasing travel error, affecting navigation efficiency, etc., and achieves the effect of improving travel efficiency, high efficiency and accurate navigation.

Active Publication Date: 2019-12-20
AMICRO SEMICON CORP +1
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AI Technical Summary

Problems solved by technology

[0002] Existing path search algorithms (such as A* algorithm, also called A-Star algorithm), generally search according to the shortest path, and the path obtained in this way is not necessarily the best path for actual navigation. The route is relatively close to obstacles. Due to map deviation or travel errors, the robot is likely to encounter obstacles during the walking process. This will interrupt the navigation process and affect the navigation efficiency. At the same time, if too many obstacles are encountered, not only It will reduce the travel efficiency and further increase the travel error, resulting in the robot being unable to go to the target position

Method used

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  • A path navigation method, chip and robot
  • A path navigation method, chip and robot

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Embodiment Construction

[0056] The specific embodiment of the present invention will be further described below in conjunction with accompanying drawing:

[0057] Such as figure 1 The path navigation method shown includes the following steps: searching the grid map, determining the path from the current position point to the target position point connected by the pre-travel position point as the pre-travel path; based on the current grid unit corresponding to the current position point , determine that the next grid unit in the direction of the pre-travel path is a path reference unit; determine whether the grid unit within the preset distance on either side of the path reference unit perpendicular to the direction of the pre-travel path is an obstacle unit; if No, then use the pre-travel position point corresponding to the path reference unit as the travel position point; if yes, judge whether the grid unit on the other side within the preset distance is an obstacle unit; if not, then The pre-trave...

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Abstract

The invention relates to a path navigation method, a chip and a robot. The path navigation method has the beneficial effects that through optimizing a pre-advance path searched by an existing path search algorithm, a pre-advance position point corresponding to a grid cell close to an obstacle unit on the pre-advance path is subjected to excursion, and finally, an advance path separated from the obstacle unit by a certain distance is formed; the robot advances according to the advance path and is not easily collided with an obstacle, so that the advance efficiency is improved; meanwhile, the navigation from a current position point to a target position point is not affected, so that the navigation is more accurate, and the efficiency is higher.

Description

technical field [0001] The invention relates to the field of robots, in particular to a path navigation method, a chip and a robot. Background technique [0002] Existing path search algorithms (such as A* algorithm, also called A-Star algorithm), generally search according to the shortest path, and the path obtained in this way is not necessarily the best path for actual navigation. The route is relatively close to obstacles. Due to map deviation or travel errors, the robot is likely to encounter obstacles during the walking process. This will interrupt the navigation process and affect the navigation efficiency. At the same time, if too many obstacles are encountered, not only It will reduce the travel efficiency and further increase the travel error, resulting in the robot being unable to go to the target position. Contents of the invention [0003] In order to solve the above problems, the present invention provides a route navigation method, a chip and a robot that a...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/20G01C21/12
Inventor 李永勇
Owner AMICRO SEMICON CORP
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