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New map path planning system

A path planning and map technology, applied in two-dimensional position/channel control and other directions, can solve the problems of not being able to know the accurate three-dimensional structure of the surrounding environment, and not being able to guarantee robot collisions

Inactive Publication Date: 2019-06-18
广州映博智能科技有限公司
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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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Embodiment Construction

[0008] The present invention will be described in more detail and complete below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, but not to limit the present invention.

[0009] figure 1 is a schematic diagram of a map route planning system according to an embodiment of the present invention.

[0010] refer to figure 1 , the map path planning system includes: a data acquisition module 10, which collects point cloud data with a laser sensor; a data representation module 20, which uses an octree to convert the point cloud map into a grid map; a path planning module 30, which specifies the starting point of the robot position and end position, the robot automatically avoids obstacles and chooses the optimal path.

[0011] In this embodiment, after the point cloud map is converted into a three-dimensional grid map, the optimal path plannin...

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Abstract

The invention discloses a new map path planning system. The system comprises: a data collection module for collecting point cloud data by using a laser sensor; a data representation module for converting a point cloud map into a grid map by using an octree; and a path planning module for specifying a starting point position and a final position of a robot, and the robot automatically bypasses theobstacle and selects an optimal path.

Description

technical field [0001] The invention relates to map path planning technology, in particular to a map path planning system. 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 cannot be solved by two-dimensional image data, and is suitable for ...

Claims

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Application Information

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IPC IPC(8): G05D1/02
Inventor 覃争鸣周健李康
Owner 广州映博智能科技有限公司
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