Method for planning path navigation, storage medium and electronic device
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Solution Overview
Problem
Current path navigation methods for sweeping robots result in inefficient movement due to frequent steering near obstacles, leading to time wastage and potential collisions, which can damage the robot and increase sensor measurement errors.
Innovation Solution
A method involving initial path planning, obstacle detection within variable neighborhoods, path segmentation based on obstacle distances, calculating path offsets, and smoothing the offset path using B-spline curves to create a final path that avoids obstacles effectively.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If the sweeping robot performs path deviation only around obstacle point plus offset radius, then the path planning is simple, but the robot performs multiple steering operations near obstacles, stops to rotate in situ, wasting time and affecting movement efficiency
Solution Approach 1:
The patent segments the initial path into multiple sub-paths based on obstacle distances at different path points. By dividing the path planning into segments with different offset strategies, the robot avoids excessive steering operations while maintaining safe distances from obstacles, thus improving movement efficiency without overly complicating the overall planning system
Solution Approach 2:
The patent dynamically changes the path offset parameter based on the distance between path points and obstacles. Instead of using a fixed offset radius, the offset distance is adjusted according to real-time obstacle proximity, allowing the robot to maintain safe distances while reducing unnecessary steering operations and improving movement efficiency
2Reliability
If the sweeping robot performs frequent steering operations near obstacles, then the robot can avoid obstacles, but it stops moving and rotates in situ, wasting a lot of time
Solution Approach 1:
The patent performs preliminary path planning to generate an initial path before movement begins. By pre-calculating the path with appropriate offset distances from obstacles, the robot avoids the need for frequent real-time steering operations and in-situ rotations during execution, thus reducing time loss while maintaining reliable obstacle avoidance
Solution Approach 2:
The patent ensures continuous forward movement by planning a smooth offset path that avoids obstacles without requiring the robot to stop and rotate in situ. The continuous path planning maintains the robot's useful action (forward movement) throughout the navigation process, minimizing interruptions and time loss
3Ease of manufacture
If the offset mode is simple, then the path planning is easy to implement, but collision between the sweeping robot and other obstacles is easily caused
Solution Approach 1:
The patent adjusts the offset distance parameter dynamically based on the distance between path points and obstacles. This parameter change strategy maintains simple path planning implementation while improving collision avoidance reliability, as the offset distance is automatically increased when obstacles are detected nearby
Solution Approach 2:
The patent incorporates feedback from obstacle detection to adjust the path offset dynamically. By continuously monitoring obstacle distances and adjusting the offset path accordingly, the system maintains simple implementation while significantly improving collision avoidance reliability through real-time adaptive adjustments
4Ease of operation
If the sweeping robot performs multiple steering operations in the vicinity of obstacles, then the robot can navigate around obstacles, but the measurement error of sensors mounted on the body increases
Solution Approach 1:
The patent segments the navigation path into sub-paths with different offset characteristics. By dividing the path into segments rather than using continuous frequent steering, the robot maintains navigation flexibility while reducing the number of steering operations that cause sensor measurement errors
Solution Approach 2:
The patent maintains continuous forward movement through smooth offset path planning, avoiding frequent stops and in-situ rotations. This continuity reduces the number of times sensors need to take measurements during steering operations, thereby improving measurement precision while preserving navigation flexibility
Data Source
AI summary
The present disclosure relates to a method for planning a path navigation, a storage medium and an electronic device in the technical field of path navigation. The method for planning the path navigation includes: planning an initial path of a sweeping robot, performing obstacle detection on each path point on the initial path within a range of a first variable neighborhood, and recording a distance between the each path point and an obstacle; segmenting the initial path according to the distance between the each path point and the obstacle; calculating a path offset of a segmented initial path to obtain an offset path; and performing smoothing processing on the offset path to obtain a final path.