Robot following path planning method and system with course constraint

Abstract

The invention provides a robot following path planning method and system with course constraint. According to the method and system, an initial first shortest path and an initial first expected courseare determined through an A* algorithm, and then a second shortest path and a second expected course after updating are obtained; a course having a minimum difference value with the first expected course is found from a passable grid framework, if the course is greater than a second set threshold, a robot walks according to the second shortest path, or otherwise an intersection point of a circumference corresponding to the course and the passable grid framework is marked as a path key point; the A* algorithm is utilized to plan a third path from the robot to the path key point and from the path key point to an ending point; and if a length difference between the third path and the second shortest path is smaller than a third set threshold, it is determined that the third path is an optimal path, or otherwise the robot walks according to the second shortest path. Through the method and system, on the premise of guaranteeing that the course of the robot is stable firstly, the path is re-planned, and therefore the stability of the robot in movement is greatly improved.

Description

technical field [0001] The present disclosure relates to the technical field of path planning of a follower robot, in particular to a method and system for path planning of a follower robot with heading constraints. Background technique [0002] The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art. [0003] In recent years, with the rapid development of robots and artificial intelligence, following robots has become a research hotspot. Compared with traditional robots, follower robots can interact naturally with humans, and can complete dynamic, flexible, and delicate operations in complex environments. At present, following robots have been widely used in people's daily life. For example, in airports, following robots can be used to help the elderly carry luggage; in warehouses, staff can guide following robots to carry goods to designated locations; in shopping malls, people ca...

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Problems solved by technology

[0005] The inventors of the present disclosure found that due to the complex and changeable environment of the following robot, the following target is also in a moving state, and at the same time, the environment occlusion or the movement of obstacles easily makes it difficult to accurately obtain the positioning information of the robot and the prior information of the environment. At this time, to ensure For the safety of robot movement, its path planning can only be 'looked', updated, and then 'looked', and then updated, which requires frequent path re-planning. This kind of local path planning method is conducive to improving the robot's response to emergencies However, how to eliminate the problem that the traditional path planning algorithm only constrains the path length and ignores the robot’s heading, which leads to the problem that the robot’s heading is prone to fluctuations when the path is re-planned. The existing path planning algorithm has not given a clear solution.

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