Continuous frame based blind guiding instrument combination path planning method

Abstract

The invention relates to a continuous frame based blind guiding instrument combination path planning method. Specifically, for each frame shot by a binocular camera, global path preview tracking is conducted to determine a local planning target point, local path planning is carried out according to the environmental information detected by the camera in real time, a walking direction error angle is output to induce the blind to walk till reaching a global target point. During local path planning, grid visualization is firstly conducted on the environmental information of a current frame, then the A* algorithm is employed for local path planning, and finally a re-weighting method path conversion method is employed to calculate the angular deviation of the current frame walking direction and a local planned path to serve as the input information of a controller for inducing the blind to walk. The invention designs a novel blind guiding instrument combination path planning method, the method can realize real-time path planning, and provides the necessary foundation for guiding the blind to follow the blind pass to walk in the premise of avoiding obstacles and arrive at the destination finally.

Description

technical field [0001] The invention relates to a combined path planning method for a blind guide device based on continuous frames, which is used for a blind guide device and provides a necessary basis for guiding blind people to walk along a blind path and finally reach a destination under the premise of avoiding obstacles, and is especially suitable for Real-time blind-guiding tasks in unknown environments. Background technique [0002] Blind people have lost their vision due to congenital or acquired physiological reasons, and most blind people expect smart devices to help them solve their travel difficulties. In recent years, a wide variety of blind guide devices have been developed at home and abroad, such as blind guide robots, smart canes, wearable blind guide devices, etc. Among them, wearable blind guide devices rely on their more intuitive perception methods, more convenient carrying methods and more A good user experience has become the mainstream direction of t...

AI Technical Summary

Problems solved by technology

However, most combined path planning algorithms directly use the rough path points obtained by the global planning as the target points of the local planning, which leads to the walking trajectory of guiding the blind is too blunt, which is different from the walking rules of normal people, and does not conform to ergonomics; There is no guide path planning system with complete functions for different blind guide requirements, so the above methods are not suitable for blind guide path planning

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