Robot trajectory planning method and system

Abstract

The invention belongs to the field of robot trajectory planning, and provides a robot trajectory planning method and system. The robot trajectory planning method comprises the steps that a feasible path of a robot is acquired; motion corridors of the feasible path are pruned repeatedly; an undirected graph is formed based on the communication relation between the motion corridors obtained after repeated pruning, wherein each motion corridor serves as a vertex of the undirected graph, and intersection areas between the motion corridors containing front-end path search path points serve as edgesconnecting the vertexes; based on a Dijkstra algorithm and the time cost of each edge, a set of optimal motion corridor combination is searched for; and the optimal motion corridor combination servesas a safety constraint, and a robot planning trajectory is generated based on a Bernstein polynomial-based piecewise curve trajectory formula.

Description

technical field

[0001] The invention belongs to the field of robot trajectory planning, and in particular relates to a robot trajectory planning method and system. Background technique

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] After planning the feasible path of the robot in the plane, it is necessary to extract the free space in the environment to form hard constraints on the position for back-end trajectory planning to ensure the safety of the trajectory. Here, the free space is referred to as a motion corridor.

[0004] The motion corridor can provide hard constraints on the location of the trajectory, and also determines the number of segments of the trajectory. The increase in the number of motion corridors will lead to an increase in trajectory segmentation, and the increase in trajectory segmentation increases the number of parameters that need ...

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