Robot line patrol priority navigation method, device and equipment

Abstract

The embodiment of the invention provides a robot line patrol priority navigation method, device and equipment. The method comprises steps of reading a cost map, a main line path of a robot and the position of a main line path in the cost map according to an input parameter, and presetting the road boundary of the main line path; calculating a planned path of the robot from the current position toa target point on a main line path, and dispersing the planned path into an initial point set; inputting the initial point set into a nonlinear optimizer for trajectory optimization to obtain an optimized point set, and calculating the execution speed of the optimized point set; and executing navigation according to the optimized point set and the execution speed. The method is advantaged in thatthe robot can follow a set route to run in the navigation process, limiting is conducted while obstacle bypassing is conducted, the robot cannot deviate from the preset width of a road, and the movingrange of the robot is controllable when obstacle bypassing is conducted.

Description

technical field [0001] Embodiments of the present invention generally relate to the field of robot navigation, and more specifically, relate to a method, device and equipment for robot line-observing priority navigation. Background technique [0002] At present, most of the existing robot navigation solutions with a given preset trajectory on the market strictly follow the trajectory, that is, stop when there is an obstacle on the trajectory, and continue to move forward after the obstacle is removed. It looks very rigid and cannot adapt to the situation. The requirements for usage scenarios are quite demanding, and the efficiency is greatly reduced. [0003] For the case of encountering obstacles in the preset trajectory, a local obstacle avoidance algorithm is often used for obstacle avoidance processing. In the actual obstacle avoidance process of the robot, due to the complexity and unpredictability of the environment, the robot often deviates a lot of distance to achie...

AI Technical Summary

Problems solved by technology

In the actual obstacle avoidance process of the robot, due to the complexity and unpredictability of the environment, the robot often deviates a lot of distance to achieve obstacle avoidance. At this time, it is easy to deviate from the path or lose control of the robot.

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