Method for planning walking path and navigation method for avoiding dynamic barrier

Abstract

The invention discloses a method for planning a walking path of a self-propelled mechanical device, which is used for providing the walking path of the self-propelled mechanical device in an entity place. The method comprises a first step and a second step, wherein the first step is to generate a relative grid map based on the entity place; the grid map comprises a plurality of map grids with barrier parameter values; the barrier parameter value of each of the map grids depends on the position of a barrier in the entity place in the relative position; and the second step is to start continuously expanding from the map grids between a starting point and a destination point to adjacent map grids until the expanded map grids are contacted with each other, and define all the map grids capableof contacting each other in an expanding track as the walking path. The method for planning the walking path provided by the invention can be applied to the self-propelled mechanical device so that the self-propelled mechanical device in the entity place can plan the walking path between the starting point and the destination point.

Description

technical field [0001] The invention relates to a walking path planning method and a navigation method, in particular to a walking path planning method and a navigation method for avoiding dynamic obstacles that can be used for a self-propelled robot device (Mobile Robot Device). Background technique [0002] For the subject of self-propelled robotic devices (such as self-propelled robots), path planning mainly refers to finding an appropriate path in a working environment with obstacles, that is, the movement path from the starting point to the destination point. In this path, it is necessary for the robot to bypass all obstacles safely and without collision during the movement. [0003] In the known technology, when a new obstacle is encountered, the path planning is re-planned, and the original planned path is abandoned. In another known technology, a straight line is defined between the starting point and the destination point as the planned path, and if there is an obs...

AI Technical Summary

Problems solved by technology

However, if you encounter a continuous obstacle (such as a wall), you may not be able to bypass the obstacle, and you will not be able to reach the destination point, or even if you can bypass the obstacle and reach the destination point, you will often have to go around a considerable distance

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