一种面向叉车频繁换向工况的路径规划方法、系统、电子设备及存储介质
By segmenting and identifying reversing points, adjusting geometric constraints, and splicing B-spline curves, combined with forklift kinematic constraint optimization, a feasible trajectory with smooth transition under frequent reversing conditions was generated, solving the problems of sharp path corners and trajectory distortion, and improving the continuity and efficiency of forklift operations.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- DEZHI ROBOT (CHONGQING) CO LTD
- Filing Date
- 2026-04-13
- Publication Date
- 2026-07-17
AI Technical Summary
Existing forklift path planning algorithms suffer from problems such as sharp path corners, trajectory distortion at reversal points, and neglect of forklift kinematic constraints under frequent reversing conditions, leading to unnecessary stopping and control difficulties.
By segmenting and identifying reversal points, adjusting geometric constraints, and splicing segmented B-spline curves, combined with the forklift's minimum turning radius and maximum steering angular velocity, a smooth transition trajectory that satisfies kinematic constraints is generated.
It enables forklifts to smoothly transition and operate efficiently under frequent reversing conditions, avoids unnecessary stops, improves operational continuity and efficiency, and ensures the feasibility and safety of the trajectory.
Smart Images
Figure CN122108154B_ABST