Path planning method and device, robot and storage medium

Abstract

The invention is applicable to the technical field of robots, and provides a path planning method and device, a robot and a readable storage medium. The method comprises the following steps of: acquiring an initial position and a target position; if it is determined that the initial position and the target position are not in the same region, determining a cross-region path between a first regionwhere the initial position is located and a second region where the target position is located according to a pre-constructed cross-region topological map; and determining a target path according to the initial position, the target position and the cross-region path. According to the embodiment of the invention, the cross-region path planning is converted into the topological map from the grid map, so that on the one hand, the problem of frequent coordinate conversion caused by the fact that the grid map is a two-dimensional map when the path is planned according to the grid map can be solved;and on the other hand, the cross-region path is planned according to the topological map, the exploration problem of the grid map is converted into the search problem of the map, and the robot path planning efficiency is improved.

Description

technical field [0001] The present application belongs to the technical field of robots, and in particular relates to a path planning method, device, robot and storage medium. Background technique [0002] At present, robots have been used more and more widely, and the application scenarios are very rich. For example, a service robot performs a task on one floor of a building, or a robot needs to perform tasks on multiple floors in a building. [0003] In multi-floor or cross-building application scenarios, robots usually navigate according to one or more grid maps when performing tasks. If navigation involves multiple grid maps, the robot needs to switch grid maps at the map handover position, load a new grid map, and use the newly loaded grid map for path planning after coordinate conversion . [0004] It can be seen that in multi-floor or cross-building application scenarios, the path planning of the robot may involve multiple grid maps. Using the method of path plann...

AI Technical Summary

Problems solved by technology

Using the method of path planning in multiple grid maps, it is necessary to explore and navigate grid maps one by one, switch grid maps, load new grid maps, and use the newly loaded grid after coordinate conversion The map performs path planning, and the navigation efficiency is very low

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