Path planning method and device

A path planning and path technology, applied in the computer field, can solve problems such as uneven paths, affecting work efficiency, sticking to obstacles, etc., to achieve the effect of enhancing safety and improving work efficiency

Pending Publication Date: 2021-12-07
BEIJING JINGDONG QIANSHITECHNOLOGY CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, when the grid map is used for path planning, the resolution of the grid map has a relatively large impact on the path, resulting in problems such as the planned path sticking to obstacles and the path is not smooth, which cannot guarantee the safe driving of automated unmanned handling equipment. Affect work efficiency

Method used

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  • Path planning method and device
  • Path planning method and device

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Embodiment Construction

[0039] Exemplary embodiments of the present invention are described below in conjunction with the accompanying drawings, which include various details of the embodiments of the present invention to facilitate understanding, and they should be regarded as exemplary only. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the invention. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

[0040] figure 1 is a schematic diagram of the main steps of the path planning method according to the embodiment of the present invention. Such as figure 1 As shown, the path planning method may include:

[0041] Step S101, receiving a route planning request, obtaining the origin and destination according to the route planning request, and then using the grid map to det...

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Abstract

The invention discloses a path planning method and device, and relates to the technical field of computers. A specific embodiment of the method comprises the following steps: receiving a path planning request, acquiring a starting place and a destination according to the path planning request, and then determining an original path from the starting place to the destination by using a grid map; smoothing the original path based on the penalty function of the smooth path to obtain a smooth path corresponding to the original path; and performing collision detection on the smooth path, if the collision detection is passed, determining the smooth path as a target path corresponding to the request, otherwise, determining the original path as the target path corresponding to the request. According to the embodiment, the influence of the resolution of the grid map on the path can be reduced, the driving safety of the automatic unmanned carrying equipment is enhanced, and the working efficiency is improved.

Description

technical field [0001] The present invention relates to the field of computer technology, in particular to a path planning method and device. Background technique [0002] More and more automated unmanned handling equipment has been put into warehouses, such as AGV cars and robots, which can reduce labor intensity and improve work efficiency. In order to ensure that the automated unmanned handling equipment travels safely in the warehouse without collisions, how to plan the driving path of the automated unmanned handling equipment in the warehouse is of great significance. [0003] At present, grid maps can be used to plan the driving path of automated unmanned handling equipment. However, when the grid map is used for path planning, the resolution of the grid map has a relatively large impact on the path, resulting in problems such as the planned path sticking to obstacles and the path is not smooth, which cannot guarantee the safe driving of automated unmanned handling eq...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20G01C21/00
CPCG01C21/20G01C21/00
Inventor 刘江江
Owner BEIJING JINGDONG QIANSHITECHNOLOGY CO LTD
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