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Robot path planning method and device

A technology of path planning and global path planning, which is applied in two-dimensional position/channel control and other directions, can solve the problem of low matching between the global planning path and the local planning path, and achieve an almost consistent effect

Pending Publication Date: 2022-07-01
MIDEA GRP (SHANGHAI) CO LTD +1
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  • Abstract
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  • Claims
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Problems solved by technology

[0003] The present application provides a robot path planning method and device to solve the problem in the prior art that the matching between the global planning path and the local planning path is too small

Method used

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  • Robot path planning method and device
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  • Robot path planning method and device

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Embodiment Construction

[0027] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all of the embodiments. Furthermore, all examples described herein are primarily and expressly intended for teaching purposes, to assist the reader in understanding the principles of the present application and the concepts provided by the inventor, thereby deepening the art, and all examples should not be construed as limited thereto Examples and conditions for class-specific statements. That is, based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application. Additionally, the term "or" as used herein refers to a non-exclusive "or" (ie, ...

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Abstract

The invention discloses a path planning method and device for a robot, and the method comprises the steps: carrying out the global path planning based on a path map in a moving range of the robot, and obtaining a global path of the robot from a current position to a target position; performing local path planning based on the global path and the current position of the robot to obtain a local path; recording information of a local path on a path map; and performing global path planning based on the path map with the recorded information so as to update the global path. The problem that the matching degree of the global planning path and the local planning path is too small in the prior art can be solved.

Description

technical field [0001] The present invention relates to the technical field of path planning, in particular to a path planning method and device for a robot. Background technique [0002] At present, the planning algorithms of mobile robots mainly involve global planning and local planning algorithms. The global planning generates the global path of the robot motion, and the local planning generates the local trajectory to realize the specific motion of the robot, including tracking and obstacle avoidance. However, in general, global planning and local planning are relatively independent, which will cause the problem that the global planning path and the local planning path match too little, causing the robot to sway. SUMMARY OF THE INVENTION [0003] The present application provides a path planning method and device for a robot to solve the problem that the global planning path and the local planning path match too little in the prior art. [0004] In order to solve the...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0255G05D1/0257G05D1/0221
Inventor 孙喜庆
Owner MIDEA GRP (SHANGHAI) CO LTD
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