Robot and path planning method and device thereof
A path planning and robotics technology, applied in the field of robotics, can solve the problems of navigation failure, unfavorable robot reaching the preset target position, ranging error, etc., and achieve the effect of reducing slow movement and quickly and effectively reaching the target position
Inactive Publication Date: 2021-01-12
UBTECH ROBOTICS CORP LTD
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Problems solved by technology
[0004] In view of this, the embodiment of the present application provides a robot and its path planning method and device to solve the problem in the prior art that the robot moves slowly or fails to navigate in the narrow lane due to ranging errors or positioning errors, which is not conducive to fast The problem of effectively getting the robot to a preset target position
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[0036] In the following description, specific details such as specific system structures and technologies are presented for the purpose of illustration rather than limitation, so as to thoroughly understand the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
[0037] According to the shape of the robot, the robot itself has a physical radius R. If the distance between the robot and the obstacle is less than the physical radius R during the navigation process, it means that the robot has collided with the obstacle. Under normal circumstances, the robot's navigation system will set a narrowest passable width to hinder the safety of the robo...
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The path planning method of the robot comprises the steps that whether the robot can reach a preset target position or not is detected according to a probing radius, and the probing radius is larger than the physical radius of the robot; if it is detected that the robot can reach the preset target position according to the probing radius, a first path between the robot and the target position is determined according to the probing radius; and if it is detected that the robot cannot reach the preset target position according to the probing radius, a second path between the robot and the targetposition is determined according to the physical radius. The path planning method of the robot has the beneficial effects that due to the fact that the probing radius is larger than the physical radius of the robot, compared with a path determined by the physical radius, the probability that the robot moves slowly or navigation fails due to positioning errors or distance measurement errors can beeffectively reduced, and the robot can arrive at the target position quickly and effectively.
Description
technical field [0001] The present application belongs to the field of robots, and in particular relates to a robot and its path planning method and device. Background technique [0002] During the robot's moving process, in order to determine the safety of the robot's movement, the robot's navigation system usually sets the narrowest traversable width. For example, the physical radius of the robot itself is R, and the narrowest passable width set is 2(R+0.1) meters. Among them, 0.1 meters is the safety margin, that is, the distance to be kept between the edge of the robot and the obstacle. [0003] However, due to ranging errors or positioning errors, the measured distance between the robot and the obstacle may deviate from the actual distance, making the robot move slowly or fail to navigate in the narrow lane, which is not conducive to quickly and effectively making the robot reach the preset target position. Contents of the invention [0004] In view of this, the em...
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Login to View More IPC IPC(8): B25J9/16
CPCB25J9/1661B25J9/1664
Inventor 刘洪剑刘志超张思民赵云熊友军
Owner UBTECH ROBOTICS CORP LTD