Method, system and device for path planning with continuous curvature

Abstract

The invention discloses a path planning method, system and equipment with continuous curvature. The method includes the following steps: obtaining the original waypoint, generating a natural parameter curve with continuous curvature change rate, and defining a coordinate frame used in local planning; obtaining the Cartesian coordinates of the robot Based on the pose of the system, the corresponding point of the robot in the coordinate frame is obtained based on the pose; further solve the pose of the robot in the curved coordinate system with the coordinate frame as the horizontal axis; sample in the curved coordinate system Multiple target points, use the multiple target points and boundary conditions to solve the parameter curves of multiple paths, and then convert each path from the curved coordinate system back to the Cartesian coordinate system; use the loss function to evaluate each path , the path with the smallest loss is regarded as the current optimal path. Planning in the curved coordinate system can still ensure the curvature continuity of the planned path, and can achieve local obstacle avoidance while conforming to the trend of the global navigation path.

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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