Robot obstacle avoidance trajectory planning method based on imitation learning and robot

Abstract

The invention relates to the field of robot motion planning, and discloses a robot obstacle avoidance trajectory planning method based on imitation learning and a robot. The method comprises the stepsof constructing a training data set, establishing a neural network of prediction path points, training the neural network, and generating an obstacle avoidance trajectory. The method can achieve thepurpose of planning the obstacle avoidance trajectory of the robot without knowing complete obstacle information in a way of learning a taught trajectory.

Description

technical field [0001] The invention relates to the field of robot motion trajectory planning, in particular to a robot obstacle avoidance trajectory planning method based on imitation learning and a robot. Background technique [0002] Generally speaking, people hope that robots can complete some daily human operations, such as picking up objects, pouring water, opening doors, etc. In the process of performing these operations, the robot needs to have the ability to avoid obstacles and reach the target position. To achieve this goal, research on motion planning methods for robots is necessary. [0003] Generally speaking, the living environment of human beings is complex and changeable, and the traditional planning method requires complete obstacle information, so it cannot meet the demand. In recent years, with the development of computer science and technology, machine learning methods have been widely used in various fields. Among them, reinforcement learning endows r...

AI Technical Summary

Problems solved by technology

However, reinforcement learning methods usually require a lot of trial and error, which is difficult to achieve in the field of robotics

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