Curvature-continuous path planning method, system and equipment

Abstract

The invention discloses a curvature-continuous path planning method, system and equipment. The method comprises the following steps: acquiring an original path point, generating a natural parameter curve with a continuous curvature change rate, and defining a coordinate frame used for local planning; obtaining the pose of a robot in a Cartesian coordinate system, and obtaining corresponding point of the robot in the coordinate frame based on the pose; calculating the pose of the robot in a curve coordinate system with the coordinate frame as the horizontal axis; sampling a plurality of target points under the curve coordinate system, calculating a parameter curve of a plurality of paths by using the sum of the plurality of target points as a boundary condition, and converting each path from the curve coordinate system to the Cartesian coordinate system; and evaluating each path by adopting a loss function, and taking the path with the minimum loss as the current optimal path. The curvature continuity of the planned path can still be ensured by planning in the curve coordinate system, and local obstacle avoidance can be realized while the global navigation path trend is complied.

Description

technical field [0001] The invention belongs to the technical field of autonomous mobile robots, and in particular relates to a curvature-continuous path planning method, system and equipment. Background technique [0002] The path planning algorithm of wheeled robot is often divided into two parts: global planning and local planning. Compared with directly using the global planning information for local planning, using the global planning path as a local planning can adapt to different roads. This approach is also called planning in a curvilinear coordinate system. However, the current path planning algorithm in the curvilinear coordinate system cannot achieve the continuity of the curvature of the planned path, which will adversely affect the driving of the robot. [0003] The global planning path provides navigation for the robot, which can be derived from the prior information of the map, or can be generated by an algorithm such as A star. Local paths generated using ...

AI Technical Summary

Problems solved by technology

However, the problem is that the curvature conversion formula from the Cartesian coordinate system to the curvilinear coordinate system has not been derived

For this reason, if we abandon using the current curvature of the robot as the initial condition for local path planning, and use cubic splines for local path generation in the curved coordinate system; this method will make the initial curvature of the generated local path inconsistent with the current curvature of the robot, resulting in curvature discontinuity

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