Track evaluation method, track evaluation device and mobile robot

Abstract

A track evaluation method provided by the invention comprises the following steps: acquiring N pieces of obstacle distance information; determining a target obstacle distance according to the N piecesof obstacle distance information; obtaining the distance between a terminal point of a preset path and the current position of a mobile robot, and taking the distance as a target point distance; forany to-be-evaluated track in a to-be-evaluated track set, determining a first weight corresponding to a first estimated distance and a second weight corresponding to a second estimated distance according to the target point distance and the target obstacle distance; according to the N pieces of obstacle distance information, determining a third weight corresponding to a target metric value, wherein the target metric value is used for indicating the distance between the to-be-evaluated track and an obstacle; and according to the first weight, the second weight and the third weight, obtaining anevaluation value corresponding to the to-be-evaluated track through a dynamic window method. Through the method, the evaluation accuracy of the to-be-evaluated track of the mobile robot in path planning can be improved.

Description

technical field [0001] The application belongs to the technical field of mobile robots, and in particular relates to a trajectory evaluation method, a trajectory evaluation device, a mobile robot and a computer-readable storage medium. Background technique [0002] When planning the path of the mobile robot, due to the variety of environments that the mobile robot faces, it is often difficult to accurately evaluate each path trajectory to be evaluated for the complex dynamic environment, so that the optimal moving path cannot be obtained, resulting in the The poor adaptability of the robot to the environment affects the mobile control efficiency and safety of the mobile robot. Contents of the invention [0003] The embodiment of the present application provides a trajectory evaluation method, a trajectory evaluation device, a mobile robot, and a computer-readable storage medium, which can improve the evaluation accuracy of the trajectory to be evaluated in the path plannin...

AI Technical Summary

Problems solved by technology

[0002] When planning the path of the mobile robot, due to the variety of environments that the mobile robot faces, it is often difficult to accurately evaluate each path trajectory to be evaluated for the complex dynamic environment, so that the optimal moving path cannot be obtained, resulting in the The adaptability of the robot to the environment is poor, which affects the mobile control efficiency and mobile safety of the mobile robot

Images