Robot path planning method and system based on skeleton extraction of passable area

Abstract

The present disclosure provides a robot path planning method and system based on skeleton extraction of a passable area, constructing an environmental grid map, projecting the robot's initial position, obstacles, and target positions into the grid map; determining the position of the robot in the grid map Passable area, and then use the Zhang-Suen algorithm to extract the skeleton of the passable area; locate the starting point and end point of the path on the grid map, and design its eight-neighborhood grid state, so that the grid where the starting point and end point of the path are located is in the passable area In the process of area refinement, it can be reserved as a skeleton point; use the breadth-first search algorithm to find the shortest connected skeleton connecting the starting point and the ending point of the path, and obtain the shortest path that the robot can pass; the path trajectory obtained in this disclosure is approximately in the middle of the passable area The location can better meet the safety needs of robot path planning, and the skeleton extraction algorithm is improved, so that the skeleton extraction results retain the path starting point and end point information.

Description

technical field [0001] The present disclosure relates to the technical field of robot path planning, in particular to a robot path planning method and system based on skeleton extraction of a passable area. 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] Mobile robot path planning technology means that the robot plans a safe running route by itself according to the sensory information of its own sensor on the environment, and at the same time efficiently completes the task. According to the principle of map construction, path planning is usually divided into road sign method and grid method. The landmark method is to construct a feasible path diagram of the robot composed of landmark points and connecting edges, such as the visual diagram method, the tangent diagram method, the Voronoi diagram method and the probability diagram expansio...

AI Technical Summary

Problems solved by technology

However, the obvious defect of this method is that it is easy to block the narrow passage, which leads to the failure of path planning, so the existing method cannot solve the safety problem in robot path planning well.

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