A path optimization method, electronic device and storage medium

Abstract

The embodiment of the invention relates to the field of robots, and discloses a path optimization method, electronic equipment and a storage medium. In some embodiments of the present application, the route optimization method includes: obtaining a route planned based on the robot's navigation map; for the track points on the route, respectively perform the following operations to optimize the route: determine the expansion area of ​​the obstacle closest to the track point The position information of the center point of the center point, and the first distance from the track point to the center point; determine the center point as the center, take the first preset value as the length of the long axis, take the second preset value as the length of the short axis, and the direction of the long axis The first ellipse boundary parallel to the direction of travel of the trajectory point; according to the first ellipse boundary, determine the second distance from the intersection of the center point and the line where the trajectory point is located and the first ellipse boundary to the center point; according to the first distance and the second distance , and the pre-set obstacle cost function to optimize the pose of the robot at the trajectory point. In this embodiment, the optimized path is made smoother.

Description

technical field [0001] The embodiments of the present invention relate to the field of robots, and in particular to a path optimization method, electronic equipment and storage media. Background technique [0002] With the rapid development of computer technology, sensor technology and artificial intelligence, robot autonomous navigation technology has also made great progress. However, in complex external environments, mobile robots will inevitably encounter obstacles when navigating autonomously. Among the common path planning algorithms at this stage, optimization-based local path planning algorithms are a major research direction. Among them, teb local planner is the most widely used. [0003] However, the inventors found that there are at least the following problems in the prior art: the paths generated by the optimization-based local path planning algorithm are often not smooth enough to meet the design requirements, especially when the moving direction of the robot...

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Problems solved by technology

[0003] However, the inventors found that there are at least the following problems in the prior art: the paths generated by the optimization-based local path planning algorithm are often not smooth enough to meet the design requirements, especially when the moving direction of the robot is very close to the obstacle. often not very safe

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