The invention discloses an epidemic prevention
robot path
planning method fused with a Voronoi skeleton diagram RRT
algorithm. The method comprises the following specific implementation steps: step 1, acquiring and connecting
equidistant points among map obstacles to construct a Voronoi skeleton diagram, and storing the Voronoi skeleton diagram locally; 2, acquiring an initial
heuristic path on the skeleton diagram by adopting an A *
algorithm; step 3, based on the initial path node, subdividing the global path into a plurality of sub-paths, and guiding the RRT
algorithm to extend to sub-target nodes one by one; step 4, constructing an elliptical constraint channel for each sub-path to perform non-uniform sampling; 5, redundant exploration of an RRT algorithm is avoided in combination with a
gravitational field bias strategy; and 6, after the planning is completed, sequentially connecting each sub-path as a result path, and
smoothing a final path by using a multi-segment
pruning strategy. Compared with an existing algorithm, the method has the advantages of path smoothness, high operation efficiency and environmental adaptability, and the epidemic prevention
robot can stably and quickly execute a planning task.