Trend-aware robot trajectory planning method in dynamic environment

Abstract

The invention discloses a trend-aware robot trajectory planning method in a dynamic environment. The method comprises the following steps of: cutting, discretizing and timing a path planned by a global path planner to change the path into a discrete initial trajectory, and awaring and estimating the speed of a dynamic obstacle to predict the motion trajectory of the dynamic obstacle; then constructing trend trajectories of the robot and the dynamic obstacle according to the initial trajectory of the robot and the motion trajectory of the dynamic obstacle, and constructing constraint conditionsthrough the intersection and overlapping degree of the trend trajectories of the robot and the dynamic obstacle; and finally, mapping the constructed constraint conditions to a hypergraph, convertingthe hypergraph into an unconstrained least square optimization problem with constraint approximation, solving the problem, and optimizing the robot trajectory. Obstacle trend constraints are introduced, the collision probability of the robot and the dynamic obstacle can be effectively reduced, the track generation stability is improved, and a safe and reliable robot motion track is provided for automatic driving, social services and other scenes.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a trend-aware robot trajectory planning method in a dynamic environment, which is suitable for real-time path planning and obstacle avoidance of a robot in a dynamic scene. Background technique [0002] During the development of robot navigation in recent decades, robot trajectory planning is a fundamental and necessary task in practical applications such as autonomous transportation and social service systems. It is known that the path planning technology in the static map is relatively mature and stable at this stage, such as A* algorithm, D* algorithm, RRT algorithm and artificial potential field method, etc. However, the real operating environment of the robot is often full of unknown obstacles and dynamic obstacles , in such complex cases, pure path planning methods usually collide with dynamic obstacles because they are not real-time high enough and cannot predic...

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Problems solved by technology

[0007] In view of the fact that the general trajectory planning method cannot plan a safe and feasible trajectory due to the limitation of robot perception accuracy in a dynamic environment, the trajectory planning method of the present invention attaches great importance to the kinematic information of dynamic obstacles and aims to solve the problem of inaccurate perception and movement obstacles The trajectory planning problem brought about by

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