A dynamic path replanning method and system based on successful path predecessor anchors

CN122306106APending Publication Date: 2026-06-30XIANGXI VOCATIONAL & TECH COLLEGE FOR NATIONALITIES
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
XIANGXI VOCATIONAL & TECH COLLEGE FOR NATIONALITIES
Filing Date
2026-04-09
Publication Date
2026-06-30

AI Technical Summary

Technical Problem

Existing technologies for path replanning in dynamic environments suffer from problems such as excessive redundant calculations, unstable local roadmap updates, dispersed computing resources, and insufficient utilization of historical experience. In particular, when new obstacles cut off the original path, it is difficult to quickly restore a feasible path.

Method used

By introducing the method of successful path precursor anchor points, the starting point, target point, probability route map and historical successful paths are obtained. Local incremental updates are performed in response to new obstacles. Connectivity anchor points are located in reverse along the historical path. Accessible path segments are retained and alternative paths are generated. The path heat field is updated to accumulate experience.

Benefits of technology

It enables local sampling to be concentrated in high-value areas, stably preserves the starting-side pathway, restores the clear path structure, improves the efficiency and success rate of replanning, and has self-reinforcing capabilities.

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Abstract

This invention relates to the field of robot path planning technology, specifically to a dynamic path replanning method and system based on the predecessor anchor points of successful paths. The method includes: first, acquiring the starting point position, the target point position, a probabilistic route map, and historical successful paths; upon detecting a new obstacle, deleting failed edges that collide with the new obstacle and incrementally updating the probabilistic route map in the local affected area; when the starting point position and the target point position lose connectivity, determining the target path from the historical successful paths, locating the collision path segment in reverse, and determining the connecting anchor point; retaining the passable path segment from the starting point position to the connecting anchor point, and planning an alternative path from the connecting anchor point to the target point position, generating a replanned path. This invention can improve the stability and replanning efficiency of path recovery in dynamic environments.
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