Path planning method, device, device and storage medium based on von Loney diagram

A path planning and path technology, applied in the direction of measurement devices, data processing applications, prediction, etc., can solve the problems of robot path search efficiency decline, inability to guarantee the optimal path planning, slow path planning speed, etc., to achieve high path search efficiency, Improve search and planning efficiency and save computing time

Active Publication Date: 2022-07-29
JIHUA LAB
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Problems solved by technology

[0003] However, the existing path planning methods still have some shortcomings in path planning for mobile robots, such as the traditional path planning method based on sampling, the planning path speed is slow, the path is unstable, the optimal path cannot be guaranteed, and in some In a narrow space, the path search efficiency of the robot is greatly reduced, etc.
[0004] Based on the above problems, there is currently no effective solution

Method used

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  • Path planning method, device, device and storage medium based on von Loney diagram
  • Path planning method, device, device and storage medium based on von Loney diagram
  • Path planning method, device, device and storage medium based on von Loney diagram

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Embodiment Construction

[0056] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all of the embodiments. The components of the embodiments of the present application generally described and illustrated in the drawings herein may be arranged and designed in a variety of different configurations. Accordingly, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to represent selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present appl...

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Abstract

The present application relates to the technical field of robot path planning, and provides a path planning method, device, device and storage medium based on a Vonoroi diagram. The method includes the following steps: acquiring environmental map information; converting the environmental map information into Vonoroi diagrams The Vonoroi diagram includes an obstacle image; obtain the first position information of the starting point and the second position information of the end point; according to the first position information and the second position information, search the Vonoroi diagram from all the The initial moving path from the starting point to the ending point; the initial moving path includes a plurality of path nodes; the path nodes include the starting point, the ending point and at least one Vonoroi graph node; according to the connection between the path nodes The initial moving path is optimized by the line and the obstacle image; the invention has the beneficial effects of fast path planning and high search efficiency.

Description

technical field [0001] The present application relates to the technical field of robot path planning, and in particular, to a path planning method, device, device and storage medium based on a von Loney diagram. Background technique [0002] With the rapid development of the robot industry in recent years, robots play an important role in people's daily life. The advantages of simple, convenient and intelligent robots have been loved by people. Robots can meet people's various needs, such as heavy and dangerous work such as cargo handling and terrain reconnaissance. In order to enable the mobile robot to find the moving path autonomously, the research on its path planning is particularly necessary. [0003] However, the existing path planning methods still have some shortcomings in path planning for mobile robots. In a small space, the robot's path search efficiency is greatly reduced. [0004] Based on the above problems, there is currently no effective solution. SUMM...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/20G06Q10/04
CPCG01C21/20G01C21/3811G06Q10/047
Inventor 邹雪丰张洊闻
Owner JIHUA LAB
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