Path planning method of biped robot

Abstract

The invention discloses a path planning method of a biped robot. The method comprises the steps: building a 3D dense point cloud chart through an orbslam2 based on a multi-source sensor RGBD, and carrying out the compression and filtering of ground information through an Octomap; and then generating an occupation lattice map through 2D projection, and finally performing global and local path planning navigation real-time obstacle avoidance by using a cost map Costmap and an obstacle layer and using improved D* and DwA. According to the method, a global path planning method and a local path planning method are fused, angle evaluation is added to actual cost values of child nodes of a D* algorithm, unnecessary turning processes are reduced, and meanwhile, selection of the child nodes is limited so that path planning is safer and more reliable.

Description

technical field [0001] The invention relates to the field of robots, in particular to a path planning method for a biped robot. Background technique [0002] The existing path planning of mobile robots can be divided into global path planning and local path planning according to the map environment and obstacle types. Global path planning is mainly used to plan the path of the robot, and local path planning is mainly used for obstacle avoidance. The D* algorithm is a commonly used local path planning algorithm, but it has certain shortcomings in obstacle avoidance. The D* algorithm is a length-first algorithm and extends the search to the surrounding 8 child nodes. The generated path will damage the path quality. Unnecessary turns. In the actual navigation process, these unnecessary turns will increase the energy consumption and time of the mobile robot system. The length priority also causes the generated path to be very close to the obstacle. Sometimes it will start from ...

AI Technical Summary

Problems solved by technology

The D* algorithm is a commonly used local path planning algorithm, but it has certain shortcomings in obstacle avoidance. The D* algorithm is a length-first algorithm and extends the search to the surrounding 8 child nodes. The generated path will damage the path quality. Unnecessary turns. In the actual navigation process, these unnecessary turns will increase the energy consumption and time of the mobile robot system. The length priority also causes the generated path to be very close to the obstacle. Sometimes it will start from two "dangerous" obstacles. The safety and low energy consumption pursued by practical applications are not thoughtful

At the same time, general algorithms are generally written based on wheeled robots. To implement them in biped robots, certain conversions are required, which is not easy.

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