Smooth method of intelligent tracking path with body, robot and storage medium

Abstract

This invention discloses a method for smoothing an intelligent tracking path, a robot, and a storage medium. The method for smoothing the tracking path includes the following steps: obtaining a preset path R0 in the tracking process, where R0 = {P0, P1, P2, ..., P...} i ...P j ...Pn}; In the preset path R0, starting from point P0, calculate the last point P that satisfies the passage condition with P0. i Points P0 and P i Include it in the planned path R1, and then continue from point P in the preset path R0. i Start calculating with P i Point P that satisfies the passage conditions j Point P j Incorporate it into the planned path R1, and repeat the steps until the last point P in the preset path R0 is reached. n Based on the line segment length L between two points in the planned path R1 and the step size threshold sl, several interpolation points are obtained. These interpolation points are then sequentially added between the corresponding two points in the planned path R1 to form the planned path R2. This invention significantly improves the robot's performance when passing through inflection points, reduces oscillations, and enhances the stability and smoothness of line-following movement.

Description

Technical Field

[0001] This invention relates to the field of robot path planning, and more particularly to a smoothing method for an embodied intelligent tracking path, a robot, and a storage medium. Background Technology

[0002] In the fields of automation and robotics, path planning is crucial for ensuring that robots can complete tasks safely and efficiently. Especially for robots that need to travel along predetermined paths, ensuring that their movement is both smooth and accurate, while adhering to the robot's kinematic constraints, is a complex and critical problem.

[0003] Traditionally, robot path planning often simplifies the robot as a point mass to simplify the computational model and improve path planning efficiency. This idealized assumption allows path planning to be represented in two- or three-dimensional space as a series of discrete path points, with the robot required to travel as close to these path points as possible while maintaining the orientation defined by those points. However, when considering the robot's physical characteristics and kinematic constraints in practice, this method reveals several limitations, especially when the path has inflection points:

[0004] Speed ​​control and stability issues: When approaching an inflection point at high speed, if the speed is not reduced appropriately, the robot may not be able to accurately follow the path point due to insufficient lateral force required for steering, resulting in deviation from the predetermined trajectory and oscillation near the inflection point.

[0005] Increased collision risk: For robots with non-circular profiles, especially when making sharp turns, excessive turning angles may cause the robot's edges to extend beyond safe limits, increasing the risk of scraping or colliding with the surrounding environment. This not only poses a threat to the robot itself but may also damage surrounding facilities. Summary of the Invention

[0006] Therefore, there is a need to provide a smoothing method for embodied intelligent tracking paths and a robot-readable storage medium to solve the problem that existing robots are prone to deviating from their predetermined trajectories.

[0007] To achieve the above objectives, this embodiment provides a smoothing method for an intelligent tracking path, comprising the following steps:

[0008] Obtain the preset path R0 in the tracking, where ;

[0009] In the preset path R0, starting from point P0, calculate the last point P that satisfies the passage condition with P0. i Points P0 and P i Include it in the planned path R1, and then continue from point P in the preset path R0. i Start calculating with Pi Point P that satisfies the passage conditions j Point P j Incorporate it into the planned path R1, and repeat the steps until the last point P in the preset path R0 is reached. n ;

[0010] Based on the line segment length L between two points in the planned path R1 and the step size threshold sl, several interpolation points are obtained. These interpolation points are then added sequentially between the corresponding two points in the planned path R1 to form the planned path R2.

[0011] Furthermore, the passage conditions are as follows:

[0012] S1: Define j = i + 1;

[0013] S2: Calculate point P i With point P j The angle difference between them is diff;

[0014] S3: Determine whether the angle difference diff is less than or equal to the preset value e1;

[0015] If so, execute S4: set j = j + 1 and return to S2;

[0016] If not, then execute S5: set P i With P j-1 Include it in the preset path R1.

[0017] Furthermore, the preset value e1 satisfies: .

[0018] Furthermore, the passage conditions are as follows:

[0019] S1: Define j = i + 1;

[0020] S2: Calculate point P i With point P j The angle difference between them is diff;

[0021] S3: Determine whether the angle difference diff is less than or equal to the preset value e1;

[0022] If so, then execute S30: Determine point P. i With point P j Is the number of fatal cost items NC between line segments less than or equal to the preset value e2?

[0023] If so, execute S4: set j = j + 1, and return to S2;

[0024] If not, then execute S5: set P i With P j-1 Include it in the preset path R1.

[0025] Furthermore, the preset value e1 satisfies: The preset value e2 satisfies: .

[0026] Furthermore, when obtaining several interpolation points based on the line segment length L between two points in the planned path R1 and the step size threshold sl, the following steps are also included:

[0027] The planned path R1: , ;

[0028] Obtain the two points Q before and after the planned path R1. t Q t+1 The slope k and the line segment length L between them;

[0029] In the planned path R1, the two points Qt and Q' are before and after the path R1. t+1 Interpolation points Q are inserted sequentially along the slope k, with an interval of the threshold value sl between them. n .

[0030] Furthermore, the step size threshold sl satisfies: .

[0031] To achieve the above objectives, this embodiment also provides a robot-readable storage medium storing a computer program thereon, which, when executed by a processor, can implement a smoothing method for an embodied intelligent tracking path as described in any of the above embodiments.

[0032] To achieve the above objectives, this embodiment also provides a robot, including a storage medium and a processor. The storage medium stores a computer program, which, when executed by the processor, can implement a smoothing method for an embodied intelligent tracking path as described in any of the above embodiments.

[0033] Furthermore, the robot is not circular in shape.

[0034] Unlike existing technologies, the above technical solution has the following beneficial effects:

[0035] By employing the path simplification and interpolation optimization methods described above, this invention significantly improves the robot's performance when navigating inflection points, reduces oscillations, and enhances the stability and smoothness of line-following. The introduction of interpolation points allows the robot to smoothly decelerate and adjust its direction as it approaches an inflection point, thereby better adhering to the predetermined path.

[0036] The above description of the invention is merely an overview of the technical solution of this application. In order to enable those skilled in the art to better understand the technical solution of this application and to implement it based on the description and drawings, and to make the above-mentioned objectives and other objectives, features and advantages of this application easier to understand, the following description is provided in conjunction with the specific embodiments and drawings of this application. Attached Figure Description

[0037] The accompanying drawings are only used to illustrate the principles, implementation methods, applications, features, and effects of specific embodiments of the present invention and other related contents, and should not be considered as limitations on this application.

[0038] Figure 1 This is a schematic diagram illustrating a robot deviating from its predetermined trajectory in the background art.

[0039] Figure 2 This is a schematic diagram illustrating a robot scraping or colliding with its surroundings in the background art.

[0040] Figure 3 This is a flowchart of the path smoothing method in this embodiment;

[0041] Figure 4 This is a flowchart of the passage conditions in Embodiment 1;

[0042] Figure 5 This is a flowchart of the passage conditions in Embodiment 2;

[0043] Figure 6 This is a schematic diagram of the planned path R1 in this embodiment;

[0044] Figure 7 This is a schematic diagram of obtaining the planned path R2 through interpolation points in this embodiment;

[0045] Figure 8 This is a flowchart of a preferred embodiment of a path smoothing method. Detailed Implementation

[0046] To illustrate the possible application scenarios, technical principles, implementable specific solutions, and achievable objectives and effects of this application in detail, the following description, in conjunction with the listed specific embodiments and accompanying drawings, provides a detailed explanation. The embodiments described herein are merely illustrative of the technical solutions of this application and are therefore intended to limit the scope of protection of this application.

[0047] In this document, the term "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The term "embodiment" appearing in various places throughout the specification does not necessarily refer to the same embodiment, nor does it specifically limit its independence or connection with other embodiments. In principle, in this application, as long as there are no technical contradictions or conflicts, the technical features mentioned in each embodiment can be combined in any way to form corresponding implementable technical solutions.

[0048] Unless otherwise defined, the technical terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the use of related terms herein is merely for the purpose of describing particular embodiments and is not intended to limit this application.

[0049] In the description of this application, the term "and / or" is used to describe the logical relationship between objects, indicating that three relationships can exist. For example, A and / or B means: A exists, B exists, and A and B exist simultaneously. Additionally, the character " / " in this document generally indicates that the preceding and following objects have an "or" logical relationship.

[0050] In this application, terms such as “first” and “second” are used only to distinguish one entity or operation from another, and do not necessarily require or imply any actual quantity, hierarchy or order relationship between these entities or operations.

[0051] Unless otherwise specified, the use of terms such as “comprising,” “including,” “having,” or other similar expressions in this application is intended to cover non-exclusive inclusion, which does not exclude the presence of additional elements in a process, method, or product that includes the stated elements, such that a process, method, or product that includes a list of elements may include not only those defined elements but also other elements not expressly listed, or elements inherent to such a process, method, or product.

[0052] As understood in the Examination Guidelines, in this application, expressions such as "greater than," "less than," and "exceeding" are understood to exclude the stated number; expressions such as "above," "below," and "within" are understood to include the stated number. Furthermore, in the description of the embodiments in this application, "multiple" means two or more (including two), and similar expressions related to "multiple" are also understood in this way, such as "multiple groups" and "multiple times," unless otherwise explicitly specified.

[0053] In the description of the embodiments of this application, the space-related expressions used, such as "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "vertical," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential," indicate the orientation or positional relationship based on the orientation or positional relationship shown in the specific embodiments or drawings. They are only for the purpose of describing the specific embodiments of this application or for the reader's understanding, and do not indicate or imply that the device or component referred to must have a specific position, a specific orientation, or be constructed or operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0054] Unless otherwise expressly specified or limited, the terms "installation," "connection," "linking," "fixing," and "setting," as used in the description of the embodiments of this application, should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral setting; it can be a mechanical connection, an electrical connection, or a communication connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two components or the interaction between two components. For those skilled in the art to which this application pertains, the specific meaning of the above terms in the embodiments of this application can be understood according to the specific circumstances.

[0055] Please see Figure 3 This embodiment provides a method for smoothing a tracking path, including the following steps:

[0056] Step S100, obtain the preset path R0 in the tracking, where , ;

[0057] In robot line-following tasks, the preset path R0 refers to an idealized path that is predefined or calculated, consisting of a series of discrete points (P0, P1, ..., P...). n These points together determine the trajectory the robot should follow. This path is typically designed based on specific task requirements, environmental conditions, and potential safety and efficiency considerations.

[0058] Step S200: In the preset path R0, starting from point P0, calculate the last point P that satisfies the passage condition with P0. i Points P0 and P i Include it in the planned path R1, and then continue from point P in the preset path R0. i Start calculating with P i Point P that satisfies the passage conditions j Point P j Incorporate it into the planned path R1, and repeat the steps until the last point P in the preset path R0 is reached.n ;

[0059] Suppose there is a pre-defined path R0 consisting of 7 points, i.e., R0 = {P0, P1, P2, P3, P4, P5, P6}, arranged in the order the robot should follow. First, calculate whether P0 to P1 meets the passage conditions. If yes, continue calculating whether P0 to P2 meets the passage conditions. If P0 to P2 meets the passage conditions, continue calculating whether P0 to P3 meets the passage conditions. If P0 to P3 still meets the passage conditions, continue calculating whether P0 to P4 meets the passage conditions. If yes, continue calculating whether P0 to P5 meets the passage conditions. If P0 to P4 does not meet the passage conditions, then P0 and P3 are included in the planned path R1, and points P1 and P2 located between P0 and P3 are removed. Next, starting from point P3 (the last point that meets the passage conditions), calculate whether P3 to P4 meets the passage conditions. If yes, continue calculating whether P3 to P5 meets the passage conditions. If P3 to P5 meet the passage conditions, then continue calculating whether P3 to P6 meet the passage conditions. If P3 to P5 do not meet the passage conditions, then P4 is added to the planned path R1, and the calculation starts from point P4 (the last point that meets the passage conditions). That is, the planned path R1 mentioned above includes P0, P3, and P4.

[0060] In this way, we successfully simplified the original path R0 from 8 points to fewer critical points, reducing unnecessary inflection points while ensuring that each path segment meets the robot's travel requirements. This not only makes the path smoother but also improves the robot's stability and efficiency while traveling along the path.

[0061] Step S300: Based on the line segment length L of the two points before and after in the planned path R1 and the step size threshold sl, obtain several interpolation points, and add these interpolation points sequentially between the corresponding two points before and after in the planned path R1 to form the planned path R2.

[0062] By employing the path simplification and interpolation optimization methods described above, this invention significantly improves the robot's performance when navigating inflection points, reduces oscillations, and enhances the stability and smoothness of line-following. The introduction of interpolation points allows the robot to smoothly decelerate and adjust its direction as it approaches an inflection point, thereby better adhering to the predetermined path.

[0063] Please see Figure 4 In this first embodiment, the passage conditions are:

[0064] Step S1: Define j = i + 1;

[0065] Step S2: Calculate point P i With point P j The angle difference between them is diff;

[0066] Step S3: Determine whether the angle difference diff is less than or equal to the preset value e1;

[0067] If so, proceed to step S4: set j = j + 1 and return to step S2;

[0068] If not, proceed to step S5: set P i With P j-1 Include it in the preset path R1.

[0069] Suppose there is a predefined path R0 consisting of 7 points, i.e., R0 = {P0, P1, P2, P3, P4, P5, P6}, where , First, calculate whether the passage conditions are met between P0 and P1, and the angle difference diff satisfies: If the angle difference diff1 between point P0 and point P1 is less than or equal to the preset value e1, it means that P0 and point P1 meet the passage conditions. If the angle difference diff1 between P0 and point P1 is greater than the preset value e1, it means that P0 and point P1 do not meet the passage conditions. Under the premise that P0 and point P1 meet the passage conditions, assign the value j = j + 1 = 2, and continue to calculate whether the angle difference diff1 between P0 and point P2 is less than or equal to the preset value e1.

[0070] In this embodiment, the preset value e1 satisfies: Preferably, e1 is 30°, which ensures the smoothness of the path in most cases.

[0071] Please see Figure 5 In this second embodiment, the passage conditions are as follows:

[0072] Step S1: Define j = i + 1;

[0073] Step S2: Calculate point P i With point P j The angle difference between them is diff;

[0074] Step S3: Determine whether the angle difference diff is less than or equal to the preset value e1;

[0075] If so, then execute S30: Determine point P. i With point P j Is the number of fatal cost items NC between line segments less than or equal to the preset value e2?

[0076] If so, proceed to step S4: set j = j + 1, and return to step S2;

[0077] If not, proceed to step S5: set P i With P j-1 Include it in the preset path R1.

[0078] Example 2 adds a condition to Example 1: a fatal cost threshold e2 for the line segment length. First, a preset value e1 is judged, then a preset value e2 is judged. If both conditions are met, passage between points is determined; otherwise, passage is not allowed. This can be represented as:

[0079]

[0080] Calculate the length of the line segment between the first and next points on the preset path R0. Combined with the cost map of autonomous driving, map the line segments onto the cost map. After dividing the line segments according to the cost map resolution, obtain the number of fatal cost values ​​on each line segment. The line segment length L can be calculated using Euclidean equations. For example, the line segment distance L1 between points P1 and P2 is: Cost maps are a common data structure in robot navigation, used to represent the ease or cost of moving a robot from any location in the environment. It is typically a two-dimensional or three-dimensional grid, where each cell contains a cost value reflecting the cost or risk of the robot moving at that location. The number of critical cost values ​​(NC) usually refers to the number of cells on the cost map with a "critical" cost value within a specific path segment or area. Here, "critical" means that these locations pose an extremely high risk or cost to the robot's movement, such that the robot should avoid these areas as much as possible.

[0081] Suppose there is a predefined path R0 consisting of 7 points, i.e., R0 = {P0, P1, P2, P3, P4, P5, P6}, where , First, calculate whether the passage conditions are met between P0 and P1, and the angle difference diff satisfies: If the angle difference diff1 between P0 and P1 is less than or equal to the preset value e1, and the number of substitutions NC1 is less than or equal to e2, it means that P0 and P1 meet the passage conditions; otherwise, it means that P0 and P1 do not meet the passage conditions.

[0082] The working principle of this method is to control the robot's maximum turning angle and line segment length on the path by setting reasonable angle threshold e1 and fatal cost threshold e2 for line segment length, thereby achieving the purpose of path simplification and smoothing.

[0083] In Example 2, the preset value e1 satisfies: The preset value e2 satisfies: Inflections on the path that exceed the above range are considered too sharp and may cause instability or prevent the robot from making turns smoothly.

[0084] In this third embodiment, only the condition "determine whether the number of fatal costs NC of the line segment length is less than or equal to the preset value e2" can be used, without the condition "determine whether the angle difference diff is less than or equal to the preset value e1".

[0085] Please see Figure 6 and Figure 7 In this embodiment, when obtaining several interpolation points based on the line segment length L of two points before and after the planned path R1 and the step size threshold sl, the following steps are also included:

[0086] The planned path R1: , ;

[0087] Obtain the two points Q before and after the planned path R1. t Q t+1 The slope k and the line segment length L between them;

[0088] In the planned path R1, the two points Qt and Q' are before and after the path R1. t+1 Interpolation points Q are inserted sequentially along the slope k, with an interval of the threshold value sl between them. n .

[0089] Among them, Q n The pose is:

[0090]

[0091] At this point, there are significant distances between path points, necessitating interpolation between them. The same step size threshold sl is used each time, and interpolation points are inserted along the slope direction to ensure that the length of each line segment on the path does not exceed the robot's motion capability range, and that the path is smoother. Points are inserted into the path, and the interpolation calculation terminates when the distance between points is less than the step size.

[0092] In this embodiment, the step size threshold sl satisfies: The preferred value is 0.05m. Taking the point from Q0 to Q1 as an example, its slope k1 is: If the line segment length L1 is 0.16 and sl is 0.05m, only 3 interpolation points can be inserted between Q0 and Q1. First, the first interpolation point is inserted between Q0 and Q1. Then, the second interpolation point is inserted between the first interpolation point and Q1. Finally, the third interpolation point is inserted between the second interpolation point and Q1. If the line segment length L1 is 0.11 and sl is 0.05m, only 2 interpolation points can be inserted between Q0 and Q1. If the line segment length L1 is 0.16 and sl is 0.03m, only 5 interpolation points can be inserted between Q0 and Q1. Figure 7 In the middle, point Q t Q at the appointed time t+1 Insert two Qs in sequence. n .

[0093] In this embodiment, if the last point (end point) in the preset path R0 is not included in the planned path R2, in order to make the robot follow the line to the end point, the orientation of the last point in the planned path R2 is replaced with the orientation of the end point. Thus, the complete path after the line following path inflection point pruning and insertion point is obtained, and the path is smoother.

[0094] Please see Figure 8 To provide readers with a clearer understanding of the invention, one preferred embodiment is described below:

[0095] 1. The robot obtains a preset path R0 during line following. This path is a set of multiple points, i.e. , .

[0096] 2. Calculate the distance from the first point P0 to point P on the preset path. i ( The angle difference (diff) i0 ,Right now .

[0097] 3. Calculate the distance from the first point P0 to point P on the preset path. i The length of the line segments is used to map the line segments onto the cost map of autonomous driving. After dividing the line segments according to the resolution of the cost map, the number of fatal cost values ​​(NC) on each line segment is calculated. i0 .

[0098] 4. Incorporate P0 into the new planned path R1. Based on the angle difference and the number of fatal costs, determine the distance from P0 to point P. i Whether passage is permitted, and the conditions for passage are:

[0099]

[0100] If both of the above conditions are met simultaneously, then it is determined that P0 is a point P. i Passage is permitted between them.

[0101] 5. If the above conditions are not met, determine that P0 is to point P. i If passage between them is impossible, then point P will be moved. n-1 Include it in path R1. From point P n-1 Begin by repeating steps 2, 3, and 4 until the last point P. n .

[0102] 6. After the above steps, prune the inflection points to obtain a new planned path. , At this point, there is a large distance between the path points, so interpolation needs to be performed between the path points.

[0103] 7. Calculate the points Q before and after on path R1. t Q at the appointed time t+1 The slope k and the length L of the line segment are intersected.

[0104] 8. According to the step size threshold sl, from the point along the slope k direction, intercept the step size sl on the line segment L, and obtain the interpolation point Q according to the slope k direction. n Its position is:

[0105]

[0106] 9. Place point Q n Insert into path R1, and calculate Q sequentially based on step size sl and slope k. t Q at the appointed time t+1 Interpolation points between; when point Q t Q at the appointed time t+1 The calculation of interpolation points is terminated when the distance between them is less than the step size sl.

[0107] 10. Repeat steps 7, 8, and 9 above to obtain all interpolation points that meet the conditions on the path, thereby forming a new planned path R2.

[0108] 11. To ensure the robot reaches the destination by following the path, the orientation of the last point in the planned path R2 is replaced with the orientation of the target point. This results in a complete path after the pruning and insertion of the turning points, and the path is smoother.

[0109] It has the following advantages:

[0110] Advantage 1: The method is simple and effective, and can solve the problem of smoothness at the inflection point of the tracking line;

[0111] Advantage 2: It takes into account the physical characteristics of the robot and enhances the robustness of the robot's operation.

[0112] This embodiment also provides a robot-readable storage medium storing a computer program. When executed by a processor, the computer program can implement a smoothing method for an embodied intelligent tracking path as described in any of the above embodiments, such as... Figures 1 to 8 As shown.

[0113] Those skilled in the art will understand that the above embodiments can be provided as methods, apparatus, or computer program products. These embodiments may take the form of entirely hardware embodiments, entirely software embodiments, or embodiments combining software and hardware aspects. All or part of the steps in the methods involved in the above embodiments can be implemented by a program instructing related hardware, and the program can be stored in a computer-readable storage medium for executing all or part of the steps described in the methods of the above embodiments. The computer device includes, but is not limited to: personal computers, servers, general-purpose computers, special-purpose computers, network devices, embedded devices, programmable devices, smart mobile terminals, smart home devices, wearable smart devices, in-vehicle smart devices, etc.; the storage medium includes, but is not limited to: RAM, ROM, magnetic disks, magnetic tapes, optical disks, flash memory, USB flash drives, portable hard drives, memory cards, memory sticks, network server storage, network cloud storage, etc.

[0114] This embodiment also provides a robot, including a storage medium and a processor. The storage medium stores a computer program, which, when executed by the processor, can implement a smoothing method for an embodied intelligent tracking path as described in any of the above embodiments. Figures 1 to 8 As shown.

[0115] In this embodiment, the robot's shape is non-circular, referring to any robot shape that does not have a completely circular outline, such as rectangle, ellipse, polygon (rectangle, hexagon, triangle), etc. Figure 6 and Figure 7 The top view of the robot shown is a combination of rectangles and triangles (one side of the rectangle coincides with one side of the triangle). The complex outline of a non-circular robot increases the risk of collisions with surrounding objects. Of course, the smoothing method of the present invention can also be applied to circular robots.

[0116] Finally, it should be noted that although the above embodiments have been described in the text and drawings of this application, this should not limit the scope of patent protection of this application. Any technical solutions that are based on the essential concept of this application and utilize the content described in the text and drawings of this application, resulting in equivalent structural or procedural substitutions or modifications, as well as the direct or indirect application of the technical solutions of the above embodiments to other related technical fields, are all included within the scope of patent protection of this application.

Claims

1. A method for smoothing an embodied intelligent tracking path, characterized in that, Includes the following steps: Obtain the preset path R0 in the tracking, where ; In the preset path R0, starting from point P0, calculate the last point P that satisfies the passage condition with P0. i Points P0 and P i Include it in the planned path R1, and then continue from point P in the preset path R0. i Start calculating with P i Point P that satisfies the passage conditions j Point P j Incorporate it into the planned path R1, and repeat the steps until the last point P in the preset path R0 is reached. n ; Based on the line segment length L and step threshold sl of the two points before and after in the planned path R1, several interpolation points are obtained. These interpolation points are then added sequentially between the corresponding two points before and after in the planned path R1 to form the planned path R2. The passage conditions are as follows: S1: Define j = i + 1; S2: Calculate point P i With point P j The angle difference between them is diff; S3: Determine whether the angle difference diff is less than or equal to the preset value e1; If so, then execute S30: Determine point P. i With point P j Is the number of fatal cost items NC between line segments less than or equal to the preset value e2? If so, execute S4: set j = j + 1, and return to S2; If not, then execute S5: set P i With P j-1 Include it in the planned path R1; When obtaining several interpolation points based on the line segment length L between two points in the planned path R1 and the step size threshold sl, the following steps are also included: The planned path R1: , ; Obtain the two points Q before and after the planned path R1. t Q t+1 The slope k and the line segment length L between them; In the planned path R1, the two points Q before and after are... t Q t+1 Interpolation points Q are inserted sequentially along the slope k, with an interval of the threshold value sl between them. n Q n The pose is: 。 2. The smoothing method according to claim 1, characterized in that, The preset value e1 satisfies: .

3. The smoothing method according to claim 1, characterized in that, The preset value e1 satisfies: The preset value e2 satisfies: .

4. The smoothing method according to claim 1, characterized in that, The step size threshold sl satisfies: .

5. A robot-readable storage medium, characterized in that, It stores a computer program that, when executed by a processor, can implement the embodied intelligent tracking path smoothing method described in any one of claims 1-4.

6. A robot, characterized in that, The device includes a storage medium and a processor, wherein the storage medium stores a computer program, which, when executed by the processor, is capable of implementing the embodied intelligent tracking path smoothing method described in any one of claims 1-4.

7. The robot according to claim 6, characterized in that, The robot is not circular in shape.

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