Database machine room complex path planning system and planning method thereof

Abstract

The invention discloses a database machine room complex path planning system and a planning method thereof. The method comprises the steps that a global path planning system searches an optimal collision-free path from a starting point to a target point according to a path planning index under the condition that environmental information is known; for an existing path planning algorithm, a proper operation mode is selected according to the environment where a robot is located, so that the robot can stably run in the environment; a local path planning system focuses on considering the current local environment information of the robot under the condition that the environment information is completely unknown, and further detects the path environment through multiple sensors, so that the robot has good obstacle avoidance capability, and further obtains the position and geometrical property information of an obstacle; and a hybrid path planning system is combined with the global path planning system and the local path planning system, so that automatic adjustment is performed in known and unknown states, the stable operation of the system under complex path planning is further improved, and the delay response of the system is reduced.

Description

technical field [0001] The invention relates to a path planning technology, in particular to a complex path planning system and a planning method for a database computer room. Background technique [0002] With the rapid development of robot technology, path planning has become one of the hot issues in the field of robotics research. Path planning must not only satisfy the robot from the starting point to the target point, but also consider time, distance and other factors, and try to Optimize these indicators; the path planning system can divide path planning into global path planning and local path planning according to the degree of grasp of environmental information. Among them, from the perspective of obtaining obstacle information statically or dynamically, global path planning belongs to Static planning, local path planning belongs to dynamic planning, while global path planning needs to master all environmental information, and carry out path planning according to al...

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Problems solved by technology

[0003] The existing path planning system cannot clarify the position information of the starting point and the target point in the complex path planning system, thereby increasing the operating load of the path planning system, and cannot maintain the abnormal and unknown state of the system under the operation of the path planning system. Safe, the traditional global path planning method can find the global optimal solution in most cases, but at the same time there are also difficulties in predicting the global information, large amount of calculation and poor real-time performance; while the local path planning method has better real-time performance, but Due to the lack of global information and easy to fall into local optimum, the target point cannot be reached, resulting in path deviation during path planning

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