Three-dimensional grid map path planning system and three-dimensional grid map path planning method based on octree representation

Abstract

The invention discloses a three-dimensional grid map path planning system and a three-dimensional grid map path planning method based on octree representation. The three-dimensional grid map path planning system based on octree representation comprises: a data acquisition module, wherein point cloud data is collected by a laser sensor; a data representation module, wherein a point cloud map is converted into a grid map by using octree; and a path planning module, wherein the starting point position and the ending point position of a robot are specified, the robot automatically bypasses obstacles, and the optimal path is selected. According to the present invention, with the method and the system, the three-dimensional point cloud information collected by the three-dimensional laser sensoris represented by the octree structure to convert the discrete point cloud data into the three-dimensional grid map so as to achieve the optimal path planning under the three-dimensional grid map, such that the robot can avoid the object in the environment, and the collision can be avoided so as to ensure the travelling safety of the robot.

Description

technical field [0001] The invention relates to map path planning technology, in particular to a three-dimensional grid map path planning system and method based on octree representation. Background technique [0002] With the improvement of various performances, service robots can complete more and more tasks in people's daily life, such as cleaning, moving objects and so on. In order to complete the task more smoothly, the robot must realize the path planning to the designated moving target. Path planning depends on indoor maps. The commonly used indoor maps are two-dimensional grid maps. However, two-dimensional grid maps only consider the environmental information of a certain height plane. Obstacles that are too high or too low cannot be avoided, so they cannot used in complex environments. [0003] Compared with the two-dimensional grid map, the three-dimensional grid map can describe the environment more realistically and accurately, deal with many problems that can...

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Problems solved by technology

[0004] The purpose of the present invention is to overcome the deficiencies of the prior art, especially to solve the problem that the two-dimensional grid map only considers the environmental information of a certain height plane, and cannot know the accurate three-dimensional structure of the surrounding environment, and cannot ensure that the robot on the planned path does not collide with obstacles. collision problem

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