一种基于扩散策略的避障轨迹生成方法及系统

By generating obstacle avoidance trajectories through a diffusion strategy, the problems of channel boundary deformation and dynamic obstacles in button mushroom cultivation facilities were solved, improving the robot's passage safety and efficiency.

CN122131778BActive Publication Date: 2026-07-17SHANGHAI HENGZE FUHUI INTELLIGENT TECHNOLOGY CO LTD +1
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
SHANGHAI HENGZE FUHUI INTELLIGENT TECHNOLOGY CO LTD
Filing Date
2026-05-08
Publication Date
2026-07-17

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Abstract

本申请提供了一种基于扩散策略的避障轨迹生成方法及系统，涉及智能控制技术领域，该方法获取移动作业机器人的运行状态信息、作业目标信息以及环境状态信息，确定需要进行局部避障规划的局部规划区域，确定局部规划区域内的障碍占用信息，确定局部规划区域内设施边界位置和局部形变量，并确定有效通行边界；基于多个初始噪声序列为起点，在引导条件特征的约束下执行多步逆扩散去噪迭代，生成多个候选避障轨迹；剔除与障碍占用信息冲突、越出有效通行边界或不满足执行约束的候选避障轨迹，并从剩余候选避障轨迹中确定目标避障轨迹。该方法能够在通道两侧设施边界可能发生形变的作业环境中，提高局部避障轨迹的安全性和通行效率。
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