Obstacle avoiding path planning method and system in specific path

Abstract

The invention provides an obstacle avoiding path planning method and system in a specific path. The method comprises in the forwarding process along the specific path, a grid map of the surrounding isobtained, and obstacle occupation information of each grid is marked; when it is determined an obstacle in front influences forwarding, a point that can be passed is selected in the specific path behind the obstacle as a temporary target point; a grid whose distance to the specific path exceeds a first preset distance is cut from the grid map, and a target space is formed in the non-occupied gridpart in the grid map after cutting; multiple obstacle avoiding paths are planned in the target space, and a corresponding candidate path which a robot can pass from the present point to the temporarytarget point is obtained according to each obstacle avoiding path; and a target obstacle avoiding path is selected from the candidate paths. Via the method, the robot can avoid the obstacle along thespecific path and is prevented from collision with pedestrians.

Description

technical field [0001] The invention relates to the field of robot path planning, in particular to an obstacle avoidance path planning method and system on a specified path. Background technique [0002] In the actual environment, the robot will use the means of free path planning when transporting objects, but this often makes it impossible for the past staff to predict the walking route of the robot. When walking opposite the robot, it is possible to take the same direction as the path planned by the robot Bypassing, thereby creating a mutual obstruction situation, if the relative speed is too fast, it may even lead to a collision. Using the method of specifying the path, the passing staff can bypass the robot because they know the robot’s walking route in advance, but if there is a static obstacle on the specified path, such as a fixed object, the robot will be blocked when it is moving forward, making it impossible to continue Walking along the original designated path ...

AI Technical Summary

Problems solved by technology

[0002] In the actual environment, the robot will use the means of free path planning when transporting objects, but this often makes it impossible for the past staff to predict the walking route of the robot. When walking opposite the robot, it is possible to take the same direction as the path planned by the robot bypass, resulting in a mutual obstruction situation, if the relative speed is too fast, it may even lead to a collision

Using the method of specifying the path, the passing staff can bypass the robot because they know the robot’s walking route in advance, but if there is a static obstacle on the specified path, such as a fixed object, the robot will be blocked when it is moving forward, making it impossible to continue Walking along the original designated path must be bypassed. At this time, it is necessary to generate a path that bypasses obstacles. The robot walks along this path and finally returns to the original designated path to continue moving forward.

If the free path planning method is used to plan the obstacle avoidance path, there will still be a risk of collision with passing pedestrians

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