Robot trajectory planning method and device

Abstract

The invention discloses a robot trajectory planning method which comprises: acquiring a running speed range of a robot, and obtaining a corresponding running trajectory curvature range of the robot during the running according to the running speed range, planning a target trajectory of the robot, so that the curvature of the target trajectory does not exceed the curvature range of the running trajectory of the robot, discretizing the target trajectory according to a preset time period to obtain a plurality of discrete points, and obtaining operation information of the robot at each of the discrete points according to a preset rule, wherein the operation information of the robot includes the running speed of the robot and the running time corresponding to the running speed. The invention also discloses a robot trajectory planning device. The kinematics characteristics of the robot itself are comprehensively considered, the robot running speed and the motion trajectory curvature are referred to in the trajectory planning process, the accuracy of the generated target trajectory is improved, and good racking performances of the robot are ensured.

Description

technical field [0001] The invention relates to the field of robots, in particular to a robot trajectory planning method and device. Background technique [0002] At present, the problem of trajectory planning for mobile robots is an important part of the subject of mobile robotics. Generally, the robot combines the sensor and map information, generates the target trajectory by the trajectory planning algorithm, and uses it as the tracking target for automatic driving, so as to realize the autonomous movement in the environment. [0003] However, there are many factors that affect the generation of the target trajectory. Some trajectory planning algorithms provided in the prior art, such as the static path shortest path algorithm (A*, A-star), the dynamic path shortest path algorithm (D*, D-star), etc. Algorithms only consider factors in the environment, such as how to avoid obstacles while maintaining the fastest way to reach the destination. These algorithms cannot guara...

AI Technical Summary

Problems solved by technology

[0004] The main purpose of the present invention is to provide a robot trajectory planning method and device, aiming to solve the technical problem that the robot trajectory planning method in the prior art cannot accurately and effectively ensure that the robot tracks the target according to the generated target trajectory

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