A method and device for generating a topology-preserving distorted space

Abstract

The present application belongs to the field of obstacle avoidance path planning, and particularly relates to a method and device for generating a topology-preserving distorted space. The method comprises: constructing an n-dimensional configuration space, gridding the configuration space, determining obstacle grid units in the configuration space grid units, and classifying the grid nodes in the configuration space; defining the spacing between boundary nodes and adjacent boundary nodes to be fixed, and defining the non-boundary nodes and adjacent nodes to be equivalent to springs, and calculating the elastic coefficients of the equivalent springs between the non-boundary nodes and adjacent nodes; constructing a linear matrix equation for the coordinates of the nodes in the distorted space, solving the linear matrix equation for the coordinates of the nodes in the distorted space to obtain the coordinates of each node after distortion, and generating a distorted space based on the coordinates of each node after distortion. The present application can realize the generation of distorted space with topology preservation, solve the special obstacle distribution situation, ensure the successful planning of the obstacle avoidance path, and have high computational efficiency.

Description

Technical Field

[0001] The present application relates to the field of obstacle avoidance path planning, and in particular to a method and device for generating a topology-preserving warped space. Background Art

[0002] When a robot performs a task in a specific environment, it needs to plan a safe path connecting a starting point and an end point to carry out the navigation task. Traditional path planning algorithms include various types. Patent No. CN115145262A discloses a twisted space obstacle avoidance path planning algorithm. This algorithm reduces the dimensionality of obstacles in a configurational space and collapses them to obtain an obstacle-free twisted space. Within the twisted space, the starting point and the end point are connected, and the path is restored to the configurational space for path optimization. Ultimately, the obstacle avoidance path in the configurational space is quickly obtained. This algorithm can effectively improve the computational efficiency of high-dimensional space obstacle avoidance path planning. However, the obstacle collapse process in the proposed twisted space generation method changes the topological structure of the original configurational space, resulting in a probability of failure when restoring the path to the configurational space. If the obstacle is a topologically homeomorphic structure, such as a two-dimensional annular obstacle, the aforementioned patent cannot obtain a feasible path when the path starting point is located within the closed interior of the obstacle. Alternatively, if the obstacle intersects multiple boundaries, the aforementioned patent collapses the obstacle into a thin membrane, making it impossible to obtain an initial path in the twisted space by connecting the starting and ending points with straight lines.

[0003] Therefore, it is desired to have a technical solution to overcome or at least alleviate at least one of the above-mentioned deficiencies of the prior art. Summary of the Invention

[0004] The purpose of this application is to provide a topology-preserving warped space generation method and device to solve the problem that the warped space generation method in the prior art cannot correctly perform path planning on special topological structures.

[0005] The technical solution of this application is:

[0006] A first aspect of the present application provides a method for generating a topology-preserving warped space, comprising:

[0007] Step 1: constructing an n-dimensional configuration space, gridding the configuration space, determining obstacle grid cells in the grid cells of the configuration space, and classifying the grid nodes in the configuration space into boundary nodes, non-boundary nodes, obstacle nodes, and non-obstacle nodes;

[0008] Step 2: Define that the distance between the boundary node and the adjacent boundary node is fixed, the non-boundary node and the adjacent node are equivalently connected as springs, and calculate the elastic coefficient of the equivalent spring between the non-boundary node and the adjacent node;

[0009] Step 3: Define that the boundary node positions are fixed, and the non-boundary node positions can be changed under the action of equivalent spring force, causing the spatial grid to distort; based on this definition, construct a linear matrix equation for the coordinates of the distorted space nodes, solve the linear matrix equation for the coordinates of the distorted space nodes to obtain the coordinates of each node after distortion, and generate a distorted space according to the coordinates of each node after distortion.

[0010] In at least one embodiment of the present application, in step 1, the classification of the grid nodes in the configuration space into boundary nodes, non-boundary nodes, obstacle nodes, and non-obstacle nodes includes:

[0011] The grid nodes in the configuration space are classified, wherein,

[0012] The boundary nodes are defined as the set of points whose index values ​​in any dimension of the configuration space are equal to the maximum or minimum value of all index values ​​in the dimension, and N is used as the boun express;

[0013] The non-boundary nodes are defined as the difference between all grid nodes in the configuration space and the boundary nodes, and N noboun express;

[0014] The obstacle node is defined as the grid node belonging to the obstacle grid unit in the configuration space, and N occp express;

[0015] The non-obstacle nodes are defined as the difference between all mesh nodes in the configuration space and the obstacle nodes.

[0016] In at least one embodiment of the present application, in step 2, calculating the elastic coefficient of the equivalent spring between the non-boundary node and the adjacent node includes:

[0017] Non-boundary node i is denoted as The adjacent nodes of this node along the j-axis with increasing index are recorded as and The elastic constant of the equivalent spring between

[0018]

[0019] The above formula means: If and All belong to obstacle nodes, then the elastic coefficient is In other cases, the elastic modulus is K;

[0020] in, K is a constant, and

[0021] In at least one embodiment of the present application, in step three, constructing a linear matrix equation of the node coordinates of the distorted space, solving the linear matrix equation of the node coordinates of the distorted space to obtain the coordinates of each node after distortion, and generating the distorted space according to the coordinates of each node after distortion, includes:

[0022] The coordinates of any node i in the configuration space after distortion are defined as The n-degree-of-freedom spatial index of node i remains unchanged before and after distortion. Under the condition that the total potential energy of all equivalent springs is minimized or the forces at all non-boundary nodes are balanced, the linear matrix equation of the distorted space node coordinates is constructed as follows:

[0023]

[0024] Where:

[0025]

[0026] in, is the coordinate of the i-th node along the j-axis after distortion, is the coordinate of the i-th node along the j-axis before distortion, is the elastic coefficient of the equivalent spring between the node indexed one position before node i along the first axis and node i, The coordinate of the node indexed before node i along the first axis after twisting along the j axis. The coordinates of the node indexed one digit after node i along the first axis after being twisted along the j axis.

[0027] Solve the above equations to obtain the coordinates vd of each node after distortion i , and generate the distorted space according to the coordinates of each node after distortion and the original connection relationship between nodes.

[0028] A second aspect of the present application provides a topology-preserving distorted space generation device, comprising:

[0029] a configuration space construction module, configured to construct an n-dimensional configuration space, grid the configuration space, determine obstacle grid cells in the configuration space grid cells, and classify grid nodes in the configuration space into boundary nodes, non-boundary nodes, obstacle nodes, and non-obstacle nodes;

[0030] an elastic coefficient calculation module, configured to define that the distance between the boundary node and the adjacent boundary node is fixed, the non-boundary node and the adjacent node are equivalently connected as springs, and calculate the elastic coefficient of the equivalent spring between the non-boundary node and the adjacent node;

[0031] The distorted space generation module is used to define that the boundary node positions are fixed, and the non-boundary node positions can be changed under the action of equivalent spring force to distort the spatial grid, construct a linear matrix equation for the coordinates of the distorted space nodes, solve the linear matrix equation for the coordinates of the distorted space nodes to obtain the coordinates of each node after distortion, and generate a distorted space based on the coordinates of each node after distortion.

[0032] The third aspect of the present application provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and capable of running on the processor, wherein when the processor executes the computer program, the topology-preserving warped space generation method as described above is implemented.

[0033] The fourth aspect of the present application provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it can implement the topology-preserving warped space generation method as described above.

[0034] The invention has at least the following beneficial technical effects:

[0035] 1. The topology-preserving warped space generation method of the present application maintains the topological structure of the warped space generation process from the configuration space unchanged, that is, it ensures that the path planned in the warped space can be successfully mapped to the original configuration space.

[0036] 2. The topology-preserving warped space generation method of this application can handle all obstacle situations, including special obstacle distribution situations such as those connected to multiple boundaries and topological homeomorphism, ensuring the successful planning of obstacle avoidance paths.

[0037] 3. The topology-preserving warped space generation method of this application has high computational efficiency. In a typical two-dimensional map, the average computation time is less than 1% of that of the A* and RRT* algorithms. In a typical three-dimensional map, the average computation time is approximately 1 / 20 and 1 / 5 of that of the A* and RRT* algorithms, respectively. It has significant advantages in the field of fast path planning with fixed environments and dynamic tasks. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 This is a flow chart of a method for generating a topology-preserving warped space according to one embodiment of the present application;

[0039] Figure 2 This is a comparison chart of the effects of the present application method and the prior art;

[0040] Figure 3 This is a schematic diagram of grid node classification according to one embodiment of the present application;

[0041] Figure 4 Schematic diagram of a topology-preserving warped space according to one embodiment of the present application;

[0042] Figure 5 Schematic diagram of a topology-preserving distorted space according to a second embodiment of the present application;

[0043] Figure 6 Schematic diagram of a topology-preserving distorted space according to a third embodiment of the present application;

[0044] Figure 7 Schematic diagram of a topology-preserving twisted space according to a fourth embodiment of the present application;

[0045] Figure 8 This is a schematic diagram of a topology-preserving twisted space generation device according to one embodiment of the present application;

[0046] Figure 9 It is a structural diagram of a computer device of a terminal or server suitable for implementing the embodiments of the present application.

[0047] in,

[0048] 100 - configuration space construction module; 200 - elastic coefficient calculation module; 300 - distortion space generation module; 400 - computer equipment; 401 - CPU; 402 - ROM; 403 - RAM; 404 - bus; 405 - I / O interface; 406 - input part; 407 - output part; 408 - storage part; 409 - communication part; 410 - drive; 411 - removable media. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical solutions and advantages of the implementation of this application clearer, the technical solutions in the embodiments of this application will be described in more detail below in conjunction with the drawings in the embodiments of this application. In the drawings, the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. The described embodiments are part of the embodiments of this application, not all of the embodiments. The embodiments described below with reference to the drawings are exemplary and are intended to be used to explain this application, and should not be understood as limitations on this application. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application. The embodiments of this application are described in detail below in conjunction with the drawings.

[0050] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be understood as limiting the scope of protection of this application.

[0051] The following is combined with Figures 1 to 9 This application is described in further detail.

[0052] A first aspect of the present application provides a method for generating a topology-preserving warped space, comprising the following steps:

[0053] S1. constructing an n-dimensional configuration space, gridding the configuration space, determining obstacle grid cells in the configuration space grid cells, and classifying the grid nodes in the configuration space into boundary nodes, non-boundary nodes, obstacle nodes, and non-obstacle nodes;

[0054] S2. Define the spacing between boundary nodes and adjacent boundary nodes as fixed, and the non-boundary nodes and adjacent nodes as being connected by springs, and calculate the elastic coefficients of the equivalent springs between the non-boundary nodes and adjacent nodes;

[0055] S3. Define that the position of boundary nodes is fixed, and the position of non-boundary nodes can be changed under the action of equivalent spring force, causing the spatial grid to distort; based on this definition, construct the linear matrix equation of the node coordinates in the distorted space, solve the linear matrix equation of the node coordinates in the distorted space to obtain the coordinates of each node after distortion, and generate the distorted space according to the coordinates of each node after distortion.

[0056] Specifically, in S1, an n-dimensional configuration space is constructed, including:

[0057] Obtain robot kinematic model;

[0058] Based on the robot kinematic model, an n-dimensional configuration space with a mapping relationship with the task space of the n-degree-of-freedom robot is constructed.

[0059] In a preferred embodiment of the present application, when the configuration space is a 2-dimensional configuration space, the configuration space is divided into quadrilateral grids; when the configuration space is a 3-dimensional configuration space, the configuration space is divided into cube grids.

[0060] In S1, the obstacle grid cells in the configuration space grid cells are determined, including:

[0061] Determine whether the robot's true posture collides with an obstacle or produces a self-collision in the task space. If so,

[0062] Then the corresponding grid unit in the configuration space is determined to be the obstacle grid unit.

[0063] The topology-preserving warped space generation method of the present application, after constructing an n-dimensional configuration space, classifies the grid nodes in the configuration space. Specifically, it includes:

[0064] Classify the mesh nodes in the configuration space, where

[0065] Define the boundary node as the set of points whose index value in any dimension of the configuration space is equal to the maximum or minimum value of all index values ​​in that dimension, and use N boun express;

[0066] Define non-boundary nodes as the difference between all mesh nodes and boundary nodes in the configuration space, and use N noboun express;

[0067] The obstacle node is defined as the grid node belonging to the obstacle grid unit in the configuration space, and N occp express;

[0068] The non-obstacle nodes are defined as the difference between all mesh nodes in the configuration space and the obstacle nodes.

[0069] The topology-preserving twisted space generation method of the present application defines that the spacing between boundary nodes and adjacent boundary nodes is fixed, and each non-boundary node is connected to the adjacent boundary node or non-boundary node equivalently as a spring, wherein each non-boundary node has 2n adjacent nodes.

[0070] In a preferred embodiment of the present application, the elastic coefficient of the equivalent spring between a non-boundary node and an adjacent node is:

[0071] Non-boundary node i is denoted as The adjacent nodes of this node along the j-axis with increasing index are recorded as and The elastic constant of the equivalent spring between

[0072]

[0073] The above formula means: If and All belong to obstacle nodes, then the elastic coefficient is In other cases, the elastic modulus is K;

[0074] in, K is a constant, and

[0075] In one embodiment of the present application, It is a maximum constant defined by the user, such as 10000000, and K can take any value, such as 1.

[0076] In this embodiment, see Figure 3 , the nodes in the outermost circle of the figure represent boundary nodes, and the boundaries between boundary nodes and adjacent boundary nodes are fixed boundaries. Nodes outside the boundary nodes are non-boundary nodes; nodes (2,1), (2,2), (2,3), (3,1), (3,2), (3,3), (4,1), (4,2), (4,3) represent obstacle nodes, and obstacle nodes and adjacent obstacle nodes are equivalent to being connected by springs with extremely large elastic coefficients; other nodes are equivalent to being connected by springs with smaller elastic coefficients.

[0077] The topology-preserving warped space generation method of the present application, after determining the elastic coefficient, S3, constructs a linear matrix equation for the warped space node coordinates, solves the linear matrix equation for the warped space node coordinates to obtain the coordinates of each node after warping, and generates the warped space according to the coordinates of each node after warping, specifically including:

[0078] The coordinates of any node i in the configuration space after distortion are defined as The n-degree-of-freedom spatial index of node i remains unchanged before and after distortion. Under the condition that the total potential energy of all equivalent springs is minimized or the forces at all non-boundary nodes are balanced, the linear matrix equation of the node coordinates in the distortion space is constructed as follows:

[0079]

[0080] Where:

[0081]

[0082] Formula (3) shows that the coordinates of the boundary nodes before and after the distortion remain unchanged;

[0083] Formula (4) indicates that the distorted coordinates of a non-boundary node are the weighted average of the distorted coordinates of 2n adjacent nodes along each axis, where the weight is the elastic coefficient of the equivalent spring between the node and the adjacent nodes.

[0084] in, is the coordinate of the i-th node along the j-axis after distortion, is the coordinate of the i-th node along the j-axis before distortion, (i 1 ,i 2 ,…,i j ,…,i n ) is the n-degree-of-freedom space index of node i, i j is the index of node i along the j axis, is the elastic coefficient of the equivalent spring between the node indexed one position before node i along the first axis and node i, The coordinate of the node indexed before node i along the first axis after twisting along the j axis. The coordinates of the node indexed one digit after node i along the first axis after being twisted along the j axis.

[0085] Solve the above equations to obtain the coordinates vd of each node after distortion i , and generate the distorted space according to the coordinates of each node after distortion and the original connection relationship between nodes.

[0086] Figure 2 A comparison diagram of the effects of the method of the present application and the prior art is given. Among them, after the annular obstacle is collapsed using the prior art, all the passable space in the middle of the obstacle is lost, while the method of the present application collapses the obstacle into a very small ring, and the internal space still exists, so the correct path can be obtained.

[0087] Figure 4-Figure 7 Schematic examples of generating a warped space using the method of the present application are given, wherein the first column represents the original configuration space, the shaded portion represents the obstacle grid unit, the second column represents the warped space and the initial straight path, and the third column represents the obstacle avoidance path obtained by mapping the initial path back to the configuration space.

[0088] The topology-preserving warped space generation method of the present application has at least the following beneficial technical effects:

[0089] 1. The topology-preserving warped space generation method of the present application maintains the topological structure of the warped space generation process from the configuration space unchanged, that is, it ensures that the path planned in the warped space can be successfully mapped to the original configuration space.

[0090] 2. The topology-preserving warped space generation method of this application can handle all obstacle situations, including special obstacle distribution situations such as those connected to multiple boundaries and topological homeomorphism, ensuring the successful planning of obstacle avoidance paths.

[0091] 3. The topology-preserving warped space generation method of this application has high computational efficiency. In a typical two-dimensional map, the average computation time is less than 1% of that of the A* and RRT* algorithms. In a typical three-dimensional map, the average computation time is approximately 1 / 20 and 1 / 5 of that of the A* and RRT* algorithms, respectively. It has significant advantages in the field of fast path planning with fixed environments and dynamic tasks.

[0092] Based on the above-mentioned topology-preserving distorted space generation method, the second aspect of the present application provides a topology-preserving distorted space generation device, see Figure 8 ,include:

[0093] A configuration space construction module 100 is used to construct an n-dimensional configuration space, grid the configuration space, determine obstacle grid cells in the configuration space grid cells, and classify grid nodes in the configuration space into boundary nodes, non-boundary nodes, obstacle nodes, and non-obstacle nodes;

[0094] The elastic coefficient calculation module 200 is used to define that the distance between the boundary node and the adjacent boundary node is fixed, the non-boundary node and the adjacent node are connected equivalently as springs, and calculate the elastic coefficient of the equivalent spring between the non-boundary node and the adjacent node;

[0095] The distorted space generation module 300 is used to define that the boundary node positions are fixed, and the non-boundary node positions can be changed under the action of equivalent spring force to distort the spatial grid; based on this definition, a linear matrix equation of the distorted space node coordinates is constructed, and the linear matrix equation of the distorted space node coordinates is solved to obtain the coordinates of each node after distortion, and a distorted space is generated according to the coordinates of each node after distortion.

[0096] In another aspect of the present application, a computer device is provided, comprising a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the above-mentioned topology-preserving warped space generation method.

[0097] Reference below Figure 9 , which shows a structural diagram of a computer device 400 suitable for implementing the embodiments of the present application. Figure 9 The computer device shown is only an example and should not limit the functions and scope of use of the embodiments of the present application.

[0098] like Figure 9 As shown, computer device 400 includes a central processing unit (CPU) 401, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 402 or a program loaded from a storage portion 408 into a random access memory (RAM) 403. Various programs and data required for the operation of device 400 are also stored in RAM 403. CPU 401, ROM 402, and RAM 403 are connected to each other via a bus 404. An input / output (I / O) interface 405 is also connected to bus 404.

[0099] The following components are connected to the I / O interface 405: an input section 406 including a keyboard, a mouse, and the like; an output section 407 including devices such as a cathode ray tube (CRT), a liquid crystal display (LCD), and a speaker; a storage section 408 including a hard disk; and a communication section 409 including a network interface card such as a LAN card or a modem. The communication section 409 performs communication processing via a network such as the Internet. A drive 410 is also connected to the I / O interface 405 as needed. Removable media 411, such as a magnetic disk, an optical disk, a magneto-optical disk, or a semiconductor memory, is installed in the drive 410 as needed, so that computer programs read therefrom can be installed into the storage section 408 as needed.

[0100] In particular, according to the embodiment of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiment of the present application includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 409, and / or installed from the removable medium 411. When the computer program is executed by the central processing unit (CPU) 401, the above functions defined in the method of the present application are executed. It should be noted that the computer storage medium of the present application can be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium can be, for example, but not limited to, a system, device or component of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to, an electrical connection having one or more conductors, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In this application, a computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In this application, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, which carries computer-readable program code. Such a propagated data signal may take a variety of forms, including, but not limited to, electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transfer a program for use by or in conjunction with an instruction execution system, apparatus, or device. The program code embodied on a computer-readable medium may be transmitted using any suitable medium, including, but not limited to, wireless, wire, optical cable, RF, etc., or any suitable combination thereof.

[0101] The flow charts and block diagrams in the accompanying drawings illustrate the possible architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. In this regard, each box in the flow chart or block diagram can represent a module, program segment or a part of code, and the module, program segment or a part of code includes one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a sequence different from that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented by a dedicated hardware-based system that performs the specified function or operation, or can be implemented by a combination of dedicated hardware and computer instructions.

[0102] The modules or units described in the embodiments of this application may be implemented in software or hardware. The modules or units described may also be provided in a processor, and the names of these modules or units do not, in certain circumstances, limit the modules or units themselves.

[0103] As another aspect, the present application further provides a computer-readable storage medium, which may be included in the apparatus described in the above embodiments, or may exist independently and not be incorporated into the apparatus. The computer-readable storage medium carries one or more programs, which, when executed by the apparatus, process data according to the above topology-preserving warped space generation method.

[0104] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A method for generating a topology-preserving warped space, characterized in that: include: Step 1: constructing an n-dimensional configuration space, gridding the configuration space, determining obstacle grid cells in the grid cells of the configuration space, and classifying the grid nodes in the configuration space into boundary nodes, non-boundary nodes, obstacle nodes, and non-obstacle nodes; Construct an n-dimensional configuration space, including: Obtain robot kinematic model; Based on the robot kinematic model, an n-dimensional configuration space with a mapping relationship with the task space of the n-DOF robot is constructed; Meshing the configuration space includes: When the configuration space is a 2-dimensional configuration space, the configuration space is divided into quadrilateral grids; when the configuration space is a 3-dimensional configuration space, the configuration space is divided into cube grids; Determine the obstacle grid cells in the configuration space grid cells, including: Determine whether the robot's true posture collides with an obstacle or generates a self-collision in the task space. If so, determine the corresponding grid cell in the configuration space as the obstacle grid cell; The grid nodes in the configuration space are classified into boundary nodes, non-boundary nodes, obstacle nodes and non-obstacle nodes, including: The boundary nodes are defined as the set of points whose index values ​​in any dimension of the configuration space are equal to the maximum or minimum value of all index values ​​in the dimension, and N is used as the boun express; The non-boundary nodes are defined as the difference between all grid nodes in the configuration space and the boundary nodes, and N noboun express; The obstacle node is defined as the grid node belonging to the obstacle grid unit in the configuration space, and N occp express; The non-obstacle nodes are defined as the difference between all grid nodes in the configuration space and the obstacle nodes; Step 2: Define that the distance between the boundary node and the adjacent boundary node is fixed, the non-boundary node and the adjacent node are equivalently connected as springs, and calculate the elastic coefficient of the equivalent spring between the non-boundary node and the adjacent node; Step 3: Define that the boundary node positions are fixed, and the non-boundary node positions can be changed under the action of the equivalent spring force to distort the spatial grid; based on this definition, construct a linear matrix equation for the coordinates of the distorted space nodes, solve the linear matrix equation for the coordinates of the distorted space nodes to obtain the coordinates of each node after distortion, and generate a distorted space according to the coordinates of each node after distortion; Constructing a linear matrix equation for the node coordinates of the distorted space, solving the linear matrix equation for the node coordinates of the distorted space to obtain the coordinates of each node after distortion, and generating a distorted space according to the coordinates of each node after distortion, including: The coordinates of any node i in the configuration space after distortion are defined as The n-degree-of-freedom spatial index of node i remains unchanged before and after distortion. Under the condition that the total potential energy of all equivalent springs is minimized or the forces at all non-boundary nodes are balanced, the linear matrix equation of the distorted space node coordinates is constructed as follows: Where: in, is the coordinate of the i-th node along the j-axis after distortion, is the coordinate of the i-th node along the j-axis before distortion, is the elastic coefficient of the equivalent spring between the node indexed one position before node i along the first axis and node i, is the elastic coefficient of the equivalent spring between node i and the node indexed one position after node i along the nth axis, The coordinate of the node indexed before node i along the first axis after twisting along the j axis. The coordinate of the node after node i indexed along the first axis after twisting along the j axis, The coordinate of the node indexed after node i along the n-th axis after distortion along the j-axis; Solve the above equations to obtain the coordinates vd of each node after distortion i , and generate the distorted space according to the coordinates of each node after distortion and the original connection relationship between nodes.

2. The method for generating a topology-preserving warped space according to claim 1, wherein: In step 2, the calculation of the elastic coefficient of the equivalent spring between the non-boundary node and the adjacent node includes: Non-boundary node i is denoted as The adjacent nodes of this node along the j-axis with increasing index are recorded as and The elastic constant of the equivalent spring between but: The above formula means: If and All belong to obstacle nodes, then the elastic coefficient is In other cases, the elastic modulus is K; in, K is a constant, and 3. A topology-preserving distorted space generation device, characterized in that: include: a configuration space construction module, configured to construct an n-dimensional configuration space, grid the configuration space, determine obstacle grid cells in the configuration space grid cells, and classify grid nodes in the configuration space into boundary nodes, non-boundary nodes, obstacle nodes, and non-obstacle nodes; Construct an n-dimensional configuration space, including: Obtain robot kinematic model; Based on the robot kinematic model, an n-dimensional configuration space with a mapping relationship with the task space of the n-DOF robot is constructed; Meshing the configuration space includes: When the configuration space is a 2-dimensional configuration space, the configuration space is divided into quadrilateral grids; when the configuration space is a 3-dimensional configuration space, the configuration space is divided into cube grids; Determine the obstacle grid cells in the configuration space grid cells, including: Determine whether the robot's true posture collides with an obstacle or generates a self-collision in the task space. If so, determine the corresponding grid cell in the configuration space as the obstacle grid cell; The grid nodes in the configuration space are classified into boundary nodes, non-boundary nodes, obstacle nodes and non-obstacle nodes, including: The boundary nodes are defined as the set of points whose index values ​​in any dimension of the configuration space are equal to the maximum or minimum value of all index values ​​in the dimension, and N is used as the boun express; The non-boundary nodes are defined as the difference between all grid nodes in the configuration space and the boundary nodes, and N noboun express; The obstacle node is defined as the grid node belonging to the obstacle grid unit in the configuration space, and N occp express; The non-obstacle nodes are defined as the difference between all grid nodes in the configuration space and the obstacle nodes; an elastic coefficient calculation module, configured to define that the distance between the boundary node and the adjacent boundary node is fixed, the non-boundary node and the adjacent node are equivalently connected as springs, and calculate the elastic coefficient of the equivalent spring between the non-boundary node and the adjacent node; a distorted space generation module, configured to define the boundary node positions as fixed, the non-boundary node positions as changeable under the action of an equivalent spring force, thereby distorting the spatial grid, construct a linear matrix equation for the coordinates of the distorted space nodes, solve the linear matrix equation for the coordinates of the distorted space nodes to obtain the coordinates of each node after distortion, and generate a distorted space based on the coordinates of each node after distortion; Constructing a linear matrix equation for the node coordinates of the distorted space, solving the linear matrix equation for the node coordinates of the distorted space to obtain the coordinates of each node after distortion, and generating a distorted space according to the coordinates of each node after distortion, including: The coordinates of any node i in the configuration space after distortion are defined as The n-degree-of-freedom spatial index of node i remains unchanged before and after distortion. Under the condition that the total potential energy of all equivalent springs is minimized or the forces at all non-boundary nodes are balanced, the linear matrix equation of the distorted space node coordinates is constructed as follows: Where: in, is the coordinate of the i-th node along the j-axis after distortion, is the coordinate of the i-th node along the j-axis before distortion, is the elastic coefficient of the equivalent spring between the node indexed one position before node i along the first axis and node i, is the elastic coefficient of the equivalent spring between node i and the node indexed one position after node i along the nth axis, The coordinate of the node indexed before node i along the first axis after twisting along the j axis. The coordinate of the node after node i indexed along the first axis after twisting along the j axis, The coordinate of the node indexed after node i along the n-th axis after distortion along the j-axis; Solve the above equations to obtain the coordinates vd of each node after distortion i , and generate the distorted space according to the coordinates of each node after distortion and the original connection relationship between nodes.

4. An electronic device comprising a memory, a processor, and a computer program stored in the memory and capable of running on the processor, characterized in that: When the processor executes the computer program, the method for generating a topology-preserving warped space according to any one of claims 1 to 2 is implemented.

5. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method for generating a topology-preserving warped space according to any one of claims 1 to 2 can be implemented.

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