Arbitrary shape object trajectory planning method and system based on space-time joint A star

By combining the spatiotemporal A-Star algorithm and Hermite curve interpolation, the inefficiency of traditional path planning in complex shapes and dynamic environments is solved, achieving efficient and continuous trajectory planning, which is suitable for robot navigation in complex shapes and dynamic environments.

CN122015872AActive Publication Date: 2026-05-12SHANDONG UNIV
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Patent Information

Application Number
CN202610450157.7
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2026-04-08
Publication Date
2026-05-12
Estimated Expiration
2046-04-08

AI Technical Summary

Technical Problem

Traditional path planning algorithms are inefficient in handling complex shapes and dynamic environments. They cannot effectively handle non-convex polygonal contours or internal holes, and ignoring the time dimension leads to infeasible or overly conservative planning results. Collision detection computation is computationally expensive, making it difficult to process complex shapes in real time.

Method used

A trajectory planning method based on spatiotemporal joint A-satellite is adopted. A polygonal model of the robot is generated through parametric modeling, a four-dimensional state space is introduced, mask information is used for efficient collision detection, and Hermite curve interpolation is used to smooth the path and generate a continuous executable trajectory.

Benefits of technology

It improves the flexibility and efficiency of robot trajectory planning in complex environments, reduces sharp turns, improves tracking accuracy and energy efficiency, and is suitable for dynamic environments and multi-robot collaboration.

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Abstract

The invention belongs to the technical field of robot motion planning and navigation, and provides a trajectory planning method and system for an object in any shape based on a spatio-temporal joint star A. According to the technical scheme, the method comprises the steps that bounding boxes corresponding to all discrete angles and mask information of a robot contour are generated based on a constructed robot polygon model; defining a four-dimensional state space, and initializing a starting point state and a target state; in the four-dimensional state space, aiming at the node with the minimum cost value, applying a predefined motion primitive to generate a subsequent state candidate set; for each subsequent state candidate node, a bounding box corresponding to a current node discrete angle and mask information of a robot contour are extracted, bit operation is executed in a corresponding area of an environment grid map, and whether collision occurs or not is judged according to an operation result; and when a target state is searched or a termination condition is satisfied, backtracking to generate a discrete space-time path, performing interpolation smoothing on the discrete space-time path, and outputting a final executable trajectory.
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