Robot path planning method, robot, electronic equipment and storage medium

A path planning and robotics technology, applied in the field of communications, can solve the problems of inability to build heuristic value grid maps, time-consuming and difficult to control algorithms, etc., to achieve the effect of ensuring efficiency and reducing computational difficulty

Pending Publication Date: 2020-06-16
CLOUDMINDS SHANGHAI ROBOTICS CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] The inventors found that there are at least the following problems in related technologies: when the target point of the algorithm is on an obstacle, the algorithm will automa

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  • Robot path planning method, robot, electronic equipment and storage medium
  • Robot path planning method, robot, electronic equipment and storage medium
  • Robot path planning method, robot, electronic equipment and storage medium

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Embodiment Construction

[0032] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention more clear, various implementation modes of the present invention will be described in detail below in conjunction with the accompanying drawings. However, those of ordinary skill in the art can understand that, in each implementation manner of the present invention, many technical details are provided for readers to better understand the present application. However, even without these technical details and various changes and modifications based on the following implementation modes, the technical solution claimed in this application can also be realized. The division of the following embodiments is for the convenience of description, and should not constitute any limitation to the specific implementation of the present invention, and the various embodiments can be combined and referred to each other on the premise of no contradiction.

[0033] The first embodi...

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Abstract

The embodiment of the invention relates to the field of communication, and discloses a robot path planning method, a robot, electronic equipment and a storage medium. The method comprises the following steps: acquiring a target point of a robot in an artificial potential field grid map that is formed by superposing a basic grid map generated according to a local map and an obstacle cost map generated according to an obstacle; acquiring a plurality of alternative pose points of the robot after the preset duration, and determining a target pose point according to a path cost of each pose point to the target point, setting the target pose point to be the pose point with the minimum path cost; and generating a target path according to the state information of the target pose point. The path planning is carried out in the artificial potential field grid map, so that the situation that the path planning cannot be carried out because a grid map cannot be generated when a target point is on anobstacle is avoided, and the path planning efficiency and effect are improved; and path planning is carried out according to the pose point with the minimum path cost to ensure that the obtained pathis the optimal path.

Description

technical field [0001] Embodiments of the present invention relate to the communication field, and in particular, to a robot path planning method, a robot, electronic equipment, and a storage medium. Background technique [0002] With the rapid development of computer technology, sensor technology and robot technology, robot autonomous navigation technology has also made great progress. In the path planning process of autonomous navigation, the state grid search algorithm has obvious advantages in the current robot local path planning and navigation algorithms. Compared with the optimization-based local path planning algorithm (teb_local_planner), the path generated by the state grid search algorithm is more stable and the algorithm efficiency is higher. Compared with the most widely used dynamic window method (dwa_local_planner), the path generated by the state grid algorithm is more flexible, and can find the optimal solution in the local map. [0003] The inventors foun...

Claims

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Application Information

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IPC IPC(8): G05D1/02G01C21/20
CPCG05D1/0274G01C21/20
Inventor 杨博炜
Owner CLOUDMINDS SHANGHAI ROBOTICS CO LTD
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