Path planning method and device based on reconstruction uncertainty

Abstract

Embodiments of the present application provide a path planning method and device based on reconstruction uncertainty, the method comprising: continuously collecting environment data through an environment perception sensor mounted on a mobile robot, extracting corresponding environment data key frames and pose estimation of each frame, constructing an initial voxel volume, and introducing an explicit uncertainty voxel volume; sampling path candidate points within the movable range of the mobile robot, eliminating unreachable candidate points in the candidate point set based on the initial voxel volume, performing uncertainty voxel screening and visibility domain judgment on the candidate point set after elimination through the explicit uncertainty voxel volume, obtaining observable voxels for each candidate point after eliminating non-visible voxels, constructing a planning objective function based on the observable voxels, pose estimation information, and path cost of each candidate point, obtaining a next observation pose, and realizing path planning. The present application can improve the mapping efficiency and path planning quality of a three-dimensional map.

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