Robot motion method and device, electronic equipment and storage medium

Abstract

The invention provides a robot motion method and device used in an unknown environment, electronic equipment and a storage medium, and can be applied to the technical field of robots. The method comprises the steps of: determining a passable gap set around a robot; selecting a target gap from the passable gap set based on the included angle between the current orientation of the robot and the terminal orientation of the robot; calculating an expected motion direction according to the target gap; and enabling the robot to move in the expected motion direction by using a dynamic window approach.Therefore, the robot can move along the edge of an obstacle, is guided by the obstacle and gets rid of local minimum.

Description

technical field [0001] The present application relates to the technical field of robots, and in particular to a method, device, electronic equipment and storage medium for robot movement in an unknown environment. Background technique [0002] The core of the robot navigation method is path planning, and path planning algorithms are mainly divided into global path planning and local path planning. Since an unknown environment means that the mobile robot does not have any prior information about the environment, navigation in an unknown environment can generally only be achieved by local robot motion methods. The local robot movement method refers to the use of sensors to collect the obstacle distribution around the robot, and only uses these local information to plan the robot's mobile behavior so that the robot can reach the end safely. [0003] Existing gap-based navigation methods rarely make full use of sensor data. For example, some algorithms that judge whether it is ...

AI Technical Summary

Problems solved by technology

[0003] Existing gap-based navigation methods rarely make full use of sensor data. For example, some algorithms that judge whether it is a gap by the angle of the "opening" obviously cannot extract the overlap between two obstacles, but the width between them is sufficient. For large gaps, another example is the method of judging whether it is a gap based on the distance of the opening. Due to insufficient consideration of the algorithm, the gap that cannot allow the robot to pass may be judged as a passable gap

Or, due to the lack of prior knowledge about the environment, gap-based planning methods blindly choose the gap closest to the direction of the end point, and in some complex environments, this often leads to a deadlock for the robot, which can no longer approach the end point.

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