Local path planning method and system for trolley to pass through narrow channel

Abstract

The embodiment of the invention discloses a local path planning method and system for a trolley to pass through a narrow channel, and the method comprises the steps: sensing environment obstacles and channel space data in real time, and triggering a narrow channel passing mode when the remaining width of the channel is smaller than 1.5 times of the width of a trolley body; converting the coordinates of the obstacle into a vehicle body coordinate system, and determining a detouring direction according to transverse distribution; four path control points are dynamically selected based on the direction, a second control point is generated through calculation according to superposition of the barrier boundary position and the half width of the vehicle body and the preset safety distance, and a third control point extends in the length direction of the vehicle body; connecting the control points by using a third-order Bezier curve to generate an initial path, and optimizing the curve continuity through a trajectory smoothing algorithm; finally, motion parameters are calculated in combination with a trolley physical model, and a control instruction is output. The narrow channel passing success rate is remarkably improved, the motion oscillation problem caused by a traditional algorithm is avoided, and meanwhile computing resource consumption is reduced.

Images