Navigation method, device, equipment and system and storage medium

Abstract

The embodiment of the invention discloses a navigation method, device, equipment and system and a storage medium. The method comprises the following steps: acquiring a global static map of the self-moving equipment in a driving environment, and dynamic point cloud data of each dynamic obstacle in the driving environment acquired by each laser radar arranged in the driving environment; generating aglobal cost map according to the dynamic point cloud data and the global static map; and determining a navigation path from the starting point to the destination of the mobile device according to theglobal cost map. According to the embodiment of the invention, the navigation path is planned based on the global cost map determined by the data collected by the laser radar in the driving environment; the condition that the self-moving equipment cannot normally pass due to the fact that the obstacles in the driving environment are not known in time is avoided, the driving efficiency and the passing rate of the self-moving equipment in the driving environment are improved, the condition limitation on the self-moving equipment is reduced, and the possibility is provided for simultaneous navigation of multiple pieces of self-moving equipment.

Description

technical field [0001] The embodiments of the present application relate to the field of autonomous navigation, and in particular to a navigation method, device, equipment, system and storage medium. Background technique [0002] When self-driving vehicles or robots move from the starting point to the destination, it is usually necessary to plan the driving path between the starting point and the destination to choose the optimal path for the vehicle or robot. [0003] In the prior art, an environment sensing device such as a laser radar is usually installed on the self-mobile device to obtain real-time environmental conditions of the area where the self-mobile device is located, and select an optimal path according to the environmental conditions. [0004] However, when the above technical solution is used for navigation route selection, there may be obstacles in the driving environment that cannot be known in time, so that when the self-mobile device moves near the obstacl...

AI Technical Summary

Problems solved by technology

[0004] However, when the above technical solution is used for navigation route selection, there may be obstacles in the driving environment that cannot be known in time, so that when the self-mobile device moves near the obstacle, it may have to stop or turn around because it cannot pass normally. Reduced driving efficiency and traffic rate of self-moving equipment

At the same time, the above scheme cannot perform optimal path planning for autonomous mobile devices that are not equipped with lidar, and has certain limitations.

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