Robot navigation method and device, electronic equipment and computer storage medium

By using a combination of random tree construction and CBFs in robot navigation, the navigation safety and efficiency problems caused by limited sensor perception capabilities are solved, and efficient and safe path planning in unknown environments is achieved.

CN119124177AActive Publication Date: 2024-12-13SHENZHEN INTELLIGENCE ALLY TECH CO LTD
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Patent Information

Application Number
CN202411608538.0
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2024-11-12
Publication Date
2024-12-13
Estimated Expiration
2044-11-12

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Abstract

The invention discloses a robot navigation method and device, electronic equipment and a computer storage medium, and belongs to the technical field of robots. The method comprises the following steps: randomly sampling a sampling state in a configuration space; searching a first node state closest to the sampling state in current vertexes in the tree; according to the direction from the first node state to the sampling state, distributing an orientation angle to the sampling state; a new node state is generated by turning the first node state to the sampling state, and a visibility CBF constraint and an obstacle avoidance CBF constraint serve as termination conditions in the robot turning process; a global reference path from the target node state to the starting node state is searched from the tree. According to the method, the random tree is constructed to explore the state space, the tree starts to grow from the starting point and finally extends to the target position, and the advantages of sampling-based planning and CBFs are combined, so that a safe path is efficiently planned in an unknown environment.
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Citation Information

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