Navigation path generation method for mobile robot and mobile robot
A mobile robot and navigation path technology, which is applied in navigation, surveying and navigation, manual sweeping machinery, etc., can solve the problems of no movement trajectory, not the best driving route, and the robot’s driving route is not smooth enough, so as to improve the movement efficiency and reduce the The effect of polylines and smoothing of planned routes
Active Publication Date: 2021-11-09
ANKER INNOVATIONS TECH CO LTD
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[0026] In order to make the objects, technical solutions, and advantages of the present application more apparent, exemplary embodiments according to the present application will be described in detail below with reference to the accompanying drawings. Apparently, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments of the present application. It should be understood that the present application is not limited by the exemplary embodiments described here. Based on the embodiments of the present application described in the present application, all other embodiments obtained by those skilled in the art without creative efforts shall fall within the protection scope of the present application.
[0027] The solution of the present application is applied to a mobile robot, which may be a mobile robot in the smart home field, such as a cleaning robot (sweeping machine, mopping machine, all-in-one sweeping and dragging ...
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The invention discloses a navigation path generation method for a mobile robot and the mobile robot, and the method comprises the steps: constructing a grid map, determining a starting point and an ending point in the grid map, and generating an initial path point set for navigating the mobile robot from the starting point to the ending point; filtering the path points in the initial path point set, filtering out middle path points in the path points in the same direction, and reserving direction inflection points; and performing straight line fitting on the path points in the filtered path point set to delete at least part of direction inflection points in the filtered path point set to obtain a final path point set as a navigation path for navigating the mobile robot from the starting point to the terminal point. According to the method, the robot can move in any direction by performing straight line fitting on the planned path points, redundant path points are reduced or even eliminated on the whole, a more accurate and shorter navigation path is obtained, broken lines in the planned path are reduced, the planned path is smoother, and the movement efficiency of the robot can be greatly improved.
Description
technical field [0001] The present application relates to the technical field of automatic mobile robots, and more particularly relates to a method for generating a navigation path for a mobile robot and the mobile robot. Background technique [0002] In the field of robot path planning, the robot needs a path planning algorithm for route planning. After the planning is completed, a series of points from the starting point to the target point are output, so that the robot can move to the specified target point according to the motion trajectory of a series of points. [0003] The current planning algorithm stipulates that the robot can only move in 8 directions (up, down, left, right, upper left, lower left, upper right, and lower right) according to the grid map, so the generated series of path points contain a lot of redundancy. remaining path points. For example, for the waypoint ABC in the middle, the robot can actually move from waypoint A to waypoint C through linear ...
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IPC IPC(8): G01C21/20G01C21/00G05D1/02A47L11/24
CPCG01C21/20G01C21/206G01C21/3867G05D1/021A47L11/24
Inventor 吴精华
Owner ANKER INNOVATIONS TECH CO LTD