Method for planning robot local path and robot
A local path and robot technology, applied in the field of robotics, can solve the problems of uncontrollable walking path and affecting normal movement, etc., achieve strong usability and practicality, and improve accuracy
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Embodiment 1
[0057] figure 1 It is a schematic flowchart of the method for planning a local path of a robot provided in Embodiment 1 of the present application, which may include the following steps:
[0058] S101: Planning a global path of the robot.
[0059] The sequence of points or curves connecting the start position and the end position is called a path, and the strategy that constitutes the path is called path planning. According to the degree of grasp of environmental information, path planning can be divided into global path planning based on prior complete information and based on Local path planning based on sensor information, where the global path refers to the robot looking for a path from the starting point to the end point in an environment with obstacles, according to one or more performance indicators.
[0060] In an embodiment, the global path planning may be performed according to an existing global path generation method, such as an A* algorithm or a D* algorithm.
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Embodiment 2
[0076] Figure 2-a The schematic flowchart of the method for planning the local path of the robot provided in Embodiment 2 of the present application is a further refinement and description of steps S103 and S104 in Embodiment 1 above. The method may include the following steps:
[0077] S101: Planning a global path of the robot.
[0078] S102: Obtain the current position of the robot, determine a first local area including the current position, and use the part of the global path within the first local area as a first reference path.
[0079] S1031: Translate the first reference path along a preset direction to obtain an initial first candidate partial path, and perform a smooth connection between the position to be connected and the current position, and the position to be connected is the distance from each initial first partial path The starting point of the candidate partial path is a position at a preset distance, and the connected first candidate partial path is used a...
Embodiment 3
[0107] image 3 It is a schematic structural diagram of the robot provided in Embodiment 3 of the present application. Such as image 3 As shown, the robot 3 of this embodiment includes: a processor 30 , a memory 31 and a computer program 32 stored in the memory 31 and operable on the processor 30 . When the processor 30 executes the computer program 32, the steps in the first method embodiment above are implemented, for example figure 1 Steps S101 to S105 are shown. Or, realize the steps in the second embodiment of the above method, for example Figure 2-a Steps S101 to S105 are shown.
[0108] The robot 3 may be a service robot among intelligent mobile robots. The robot may include, but not limited to, a processor 30 and a memory 31 . Those skilled in the art can understand that, image 3 It is only an example of the robot 3 and does not constitute a limitation to the robot 3. It may include more or less components than shown in the illustration, or combine certain co...
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