Path planning method and device, robot and storage medium

Abstract

The invention discloses a path planning method and device, a robot and a storage medium, and is applied to the robot. The method comprises the following steps: constructing a local map; dividing a local map into a plurality of grids, wherein the local map comprises a first position, a second position and an obstacle position; using the grid where the first position is located as a first target network to be added to the path list; determining at least one second target grid in the multiple grids, wherein the distance between the second target grid and the grid where the second position is located is smaller than the distance between the first target grid and the grid where the second position is located, and the second target grid is not the grid where the obstacle position is located; adding the second target grid with the minimum moving cost to the path list; and if the second target grid newly added to the path list is the grid where the second position is located, determining a local path in the local map according to all grids in the path list. According to the method, the local path capable of avoiding the obstacle can be planned, so that the robot advances all the time and does not wander back and forth between two positions.

Description

technical field [0001] The present application relates to the field of robot technology, and in particular to a path planning method, device, equipment and storage medium. Background technique [0002] A robot is an intelligent machine capable of semi-autonomous or fully autonomous work, and has been widely used in many fields such as logistics, publicity, and medical treatment. Generally, after the robot obtains the global map of its environment, it plans a global path according to the global map, and then walks according to the global path to realize autonomous work. However, when an obstacle suddenly appears on the global path, the robot will directly hit the obstacle. Therefore, how to make the robot avoid obstacles in the process of walking is very important. [0003] In the related art, in the process of walking according to the global path, the robot uses DWA (Dynamic Window Approach, dynamic window algorithm) for local path planning to avoid obstacles. [0004] Ho...

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Problems solved by technology

[0004] However, when there are many obstacles, or the passable path is relatively narrow due to obstacles, the DWA algorithm is prone to fall into a local optimal solution, which causes the robot to wander back and forth between the two positions and cannot move forward.

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