Path planning, real-time path optimization method and device, storage medium

Abstract

The embodiment of the present invention provides a path planning method, which initializes the tree T a , T b , and take the starting point and the target point as the tree T respectively a , T b The root node of ; random sampling, get the first random point X rand ; in tree T a Find the distance to the first random point in X rand nearest point X nearest ; Judge the first random point X rand with X nearest Whether the path between is feasible, if feasible, the first random point X rand as X new ; put X new add to tree T a , and in tree T a Get in with X new The distance to the point within the preset range will be calculated from the point within the preset range to X new The point with the least path cost is taken as X new The best parent node of ; judge X new Whether the path to the best parent node is feasible, if feasible, then judge the tree T a , T b Whether they are connected or not, if they are connected, obtain a feasible path, and use the path real-time optimization method to optimize the feasible path in real time. Embodiments of the present invention also provide a real-time path optimization method and device, a path planning device, and a storage medium. Using the embodiments of the present invention, a feasible path can be quickly found, and the path can be optimized in real time.

Description

technical field [0001] The invention relates to the field of data processing, in particular to a path planning method and device, a real-time path optimization method and device, and a storage medium. Background technique [0002] This section is intended to provide a background or context for the implementation of the embodiments of the invention that are set forth in the claims and detailed description. The descriptions herein are not admitted to be prior art by inclusion in this section. [0003] With the continuous development of the robotics industry, the motion planning of robots has received more and more attention, and has been applied in many fields such as robotic arm manipulation, mobile robots, and self-driving cars. The basic motion planning problem is to find a collision-free path with the least path cost between a start point and an end point. The path planning algorithm has been studied for a long time, and many improved algorithms have been proposed to spe...

AI Technical Summary

Problems solved by technology

There are some algorithms for dynamic environments, but the algorithm search speed and convergence speed are slow

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