The invention relates to the technical field of
robot obstacle avoidance methods, in particular to an
obstacle avoidance method of a
robot. According to the method, a dynamic environment
sensing system is constructed through multi-
sensor fusion, and a
dynamic feature description
package and a static environment sketch are generated. The
system generates a global navigation
route by adopting an improved path planning
algorithm, and constructs an obstacle space-time probability distribution map in combination with a multi-
hypothesis prediction technology. According to the method, a two-channel intention analysis mechanism is introduced, the motion intention of a target is predicted by analyzing the
kinematics characteristics and the biological behavior characteristics of the target, and a four-dimensional space-time
threat model is established by fusing a space-time probability graph. And according to the
threat level, a hierarchical
obstacle avoidance strategy is dynamically generated, wherein the hierarchical obstacle avoidance strategy comprises various response
modes such as path fine adjustment, speed cooperative adjustment and emergency channel avoidance. The environment
cognition and behavior model is continuously updated through a closed-
loop optimization mechanism, and finally safe and smooth autonomous navigation in the high-dynamic man-
machine coexistence environment is achieved.