A ground robot velocity continuous obstacle avoidance trajectory optimization method and system

CN116430841BActive Publication Date: 2026-06-05ZHEJIANG LAB

Patent Information

Authority / Receiving Office: CN · China
Patent Type: Patents(China)
Current Assignee / Owner: ZHEJIANG LAB
Filing Date: 2022-11-30
Publication Date: 2026-06-05

AI Technical Summary

Technical Problem

Existing robot obstacle avoidance methods suffer from poor speed continuity during trajectory switching. In particular, the obstacle avoidance trajectory generated by the dynamic window method is short and lacks flexibility, and the ElasticBand method cannot guarantee the speed continuity between the obstacle avoidance trajectory and the global trajectory.

Method used

Alternative obstacle avoidance paths are generated using the RRT* algorithm, multi-point boundary condition vectors are constructed, the velocity vectors of path points are optimized, and the problem is transformed into a multi-point boundary value problem for solution. The polynomial obstacle avoidance trajectory parameters are optimized to ensure velocity continuity.

Benefits of technology

It improves the smoothness of the robot's obstacle avoidance motion, reduces sudden changes in speed and direction during obstacle avoidance, and enhances the continuity and flexibility of trajectory optimization.

✦ Generated by Eureka AI based on patent content.

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Abstract

The application discloses a ground robot speed continuous obstacle avoidance trajectory optimization method, which comprises the following steps: acquiring a current position and speed of the robot; selecting an alternative switching point between a robot obstacle avoidance trajectory and a global trajectory; generating an alternative obstacle avoidance path through an RRT * algorithm; establishing a multi-point boundary condition vector of the obstacle avoidance trajectory; calculating path point time according to a robot setting speed; establishing a multi-point boundary value problem for the alternative obstacle avoidance path, optimizing alternative obstacle avoidance trajectory parameters; comparing alternative obstacle avoidance trajectory performances, and selecting an optimal obstacle avoidance trajectory. The application also discloses a ground robot speed continuous obstacle avoidance trajectory optimization system. The application converts a ground robot obstacle avoidance trajectory optimization problem into a trajectory polynomial parameter optimization problem, and guarantees the continuity of the speed between the obstacle avoidance trajectory and the global trajectory by introducing a global trajectory speed condition in an equivalent multi-boundary value problem. The application can be used for improving the smoothness of mobile robot obstacle avoidance movement and reducing the mutation of the speed and direction of the robot in the obstacle avoidance process.

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