Water surface robot obstacle avoidance method, device and equipment and readable storage medium

Abstract

The invention provides a water surface robot obstacle avoidance method, device and equipment and a readable storage medium, and the method comprises the steps: generating a plurality of trajectory lines in a preset time period, and dividing a feasible region and a non-feasible region; deleting non-feasible trajectory lines from the trajectory lines of a plurality of preset time periods in the feasible area to obtain feasible trajectory lines of a plurality of preset time periods; evaluating the feasible trajectory lines of the plurality of preset time periods through an evaluation function, and determining an optimal trajectory line of the preset time period based on an evaluation result; and running the water surface robot at the speed corresponding to the optimal trajectory to run for a preset period of time, determining whether the water surface robot can reach the target point or not, and if not, executing the first step until the water surface robot reaches the target point. Through the method and the device, the problems that when high-density obstacles or moving obstacles appear, the positions of the obstacles cannot be accurately pre-judged, so that the optimal moving path of the water surface robot cannot be selected, and the time required for reaching the target point is long are solved.

Description

technical field [0001] The invention relates to the technical field of surface robots, in particular to an obstacle avoidance method, device, equipment and a readable storage medium for a surface robot. Background technique [0002] Autonomous obstacle avoidance technology is the core issue in the field of mobile robot research, and it has a wide range of applications in many fields such as unmanned vehicles, express delivery, takeaway delivery, and military unmanned boat cruise. As the image processor (GPU) technology becomes more mature, deep learning has made rapid progress in images, and the perception of hardware sensor devices such as lidar and attitude instruments has become more accurate, and the research on mobile robots has expanded from land to water. , surface robots will be disturbed by other factors such as water flow fluctuations, and the requirements for the accuracy of intelligent planning algorithms are higher. At present, the intelligent planning in the a...

AI Technical Summary

Problems solved by technology

[0003] The main purpose of the present invention is to provide a water surface robot obstacle avoidance method, device, equipment and readable storage medium, aiming to solve the problem that when high-density obstacles or moving obstacles appear, the position of the obstacle cannot be accurately predicted, resulting in Unable to choose the optimal path for the surface robot to move, making it take a long time to reach the target point

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