A path planning method, device and electronic equipment with obstacle avoidance weight

Abstract

The invention relates to the field of robot technologies and discloses a path planning method and device with an obstacle avoidance weight and electronic equipment. The method comprises the steps thata grid-based map is acquired, and a starting point grid and an ending point grid of a mobile robot are determined; a grid cost value of a passable grid of the grid-based map is calculated, wherein the grid cost value comprises a cost from the starting point grid to the passable grid, a cost from the passable grid to the ending point grid and an obstacle avoidance cost of the passable grid; and path planning is performed based on an A-star algorithm with the obstacle avoidance weight to generate a planned path. Based on the traditional A-star algorithm, the obstacle avoidance weight, an obstacle judgment dynamic cache and a cross-step search strategy are added; and through the method, the technical problem that the calculation quantity is large in a planning process through the A-star algorithm currently can be solved, and the problem that it is difficult to plan a path in a narrow region also can be solved.

Description

technical field [0001] The embodiments of the present invention relate to the technical field of robots, and in particular to a path planning method, device and electronic equipment with obstacle avoidance weights. Background technique [0002] With the development of technology and the improvement of people's living standards, mobile robots such as cleaning robots, service robots, remote monitoring robots, and sweeping robots have gradually entered people's lives. [0003] The grid-based map (Grid-based map) established by Simultaneous Localization and Mapping (SLAM) has a minimum resolution, so the grids marked as obstacles are not necessarily all obstacles, and the robot still There is a possibility of passing through the edge of the grid, ignoring this possibility will result in the narrow area (comparable to the radius of the robot) not being able to pass. The A* algorithm path search will be time-consuming, and it is difficult to maintain the real-time path planning w...

AI Technical Summary

Problems solved by technology

[0003] The grid-based map (Grid-based map) established by Simultaneous Localization and Mapping (SLAM) has a minimum resolution, so the grids marked as obstacles are not necessarily all obstacles, and the robot still There is a possibility of passing through the edge of the grid, ignoring this may cause narrow areas (comparable to the radius of the robot) to be unable to pass

A* algorithm path search will be time-consuming, and it is difficult to maintain real-time path planning under the condition of limited computing efficiency of the motherboard

For the obstacle expansion strategy, when the calculation efficiency of the motherboard is limited, if the map resolution is too large, the calculation amount of the expansion map is too large, and the calculation resources are too large to maintain the real-time performance of path planning.

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