Obstacle avoidance method, mobile robot and computer readable storage medium

Abstract

The invention relates to the field of navigation, and discloses an obstacle avoidance method, a mobile robot and a computer readable storage medium. The obstacle avoidance method is applied to the mobile robot, and comprises the steps of acquiring a plurality of predicted paths with the length being greater than the preset length according to the current speed and a plurality of predicted accelerations of the mobile robot, wherein the preset length is greater than or equal to the distance between the mobile robot and an obstacle; evaluating the evaluation score of each predicted path, and acquiring the predicted path with the highest evaluation score to serve as a target path; and controlling the mobile robot to move along the target path. Compared with the prior art, the obstacle avoidance method, the mobile robot and the computer readable storage medium provided by the embodiment of the invention have the advantage that the mobile robot can effectively bypass the obstacle.

Description

technical field [0001] The invention relates to the field of navigation, in particular to an obstacle avoidance method, a mobile robot and a computer-readable storage medium. Background technique [0002] In recent years, with the further development of artificial intelligence technology, the application of mobile robots has become more and more extensive, and autonomous mobile robots have increasingly become a research hotspot in the scientific and technological circles. The navigation problem is the key issue for robots to achieve autonomous movement. The autonomous navigation of a mobile robot means that the robot relies on the sensors carried by itself in a specific environment to achieve collision-free movement from the starting position to the target position according to the principle of the shortest time path or the lowest energy consumption. [0003] However, even if the preset trajectory is set according to the initial position and the target position, the mobile r...

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Problems solved by technology

[0003] However, even if the preset trajectory is set according to the initial position and the target position, the mobile robot may still encounter a sudden obstacle blocking the preset trajectory during the movement along the preset trajectory. Therefore, in the prior art A local path planning method for mobile robots is proposed

[0004] However, the inventors of the present invention have found that the local path planning methods in the prior art usually use a fixed time to generate predicted trajectories, resulting in large differences between predicted trajectories, especially when the moving speed is low, it is easy for the robot to slow down. Approaching the obstacle or even stopping in front of the obstacle, without going around the obstacle, unable to reach the destination

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