Path optimization method, electronic device and storage medium

Abstract

The embodiment of the invention relates to the field of robots, and discloses a path optimization method, an electronic device and a storage medium. In some embodiments of the invention, the path optimization method comprises the steps of obtaining a path planned based on a navigation map of a robot; aiming at the track points on the path, respectively carrying out the following operations to optimize the path: determining the position information of the central point of the expansion area of the obstacle closest to the track points, and the first distance from the track points to the centralpoint; determining a first elliptical boundary which takes the central point as the center, takes the first preset value as the long axis length, takes the second preset value as the short axis lengthand has the long axis direction parallel to the advancing direction of the track point; according to the first elliptical boundary, determining a second distance from an intersection point of a straight line where the center point and the track point are located and the first elliptical boundary to the center point; and optimizing the pose of the robot at the track point according to the first distance, the second distance and a preset obstacle cost function. In the embodiment, the optimized path is smoother.

Description

technical field [0001] The embodiments of the present invention relate to the field of robots, and in particular to a path optimization method, electronic equipment and storage media. Background technique [0002] With the rapid development of computer technology, sensor technology and artificial intelligence, robot autonomous navigation technology has also made great progress. However, in complex external environments, mobile robots will inevitably encounter obstacles when navigating autonomously. Among the common path planning algorithms at this stage, optimization-based local path planning algorithms are a major research direction. Among them, teb local planner is the most widely used. [0003] However, the inventors found that there are at least the following problems in the prior art: the paths generated by the optimization-based local path planning algorithm are often not smooth enough to meet the design requirements, especially when the moving direction of the robot...

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Problems solved by technology

[0003] However, the inventors found that there are at least the following problems in the prior art: the paths generated by the optimization-based local path planning algorithm are often not smooth enough to meet the design requirements, especially when the moving direction of the robot is very close to the obstacle. often not very safe

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