Path planning method and device, robot and storage medium

A path planning and robotics technology, applied in the field of robotics, can solve problems such as poor controllability, uneven path, strong randomness, etc., and achieve the effect of satisfying motion characteristics, smooth path, and smooth sensory experience

Active Publication Date: 2020-05-15
深圳优地科技有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The embodiment of the present application provides a path planning method, device, robot and storage medium, which can solve the problem that the path planning algorithm of the existing mobile robot has strong randomness and poor controllability, so that the planned path is extremely uneven.

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  • Path planning method and device, robot and storage medium
  • Path planning method and device, robot and storage medium
  • Path planning method and device, robot and storage medium

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Embodiment Construction

[0030] In the following description, specific details such as specific system structures and technologies are presented for the purpose of illustration rather than limitation, so as to thoroughly understand the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

[0031] It should be understood that when used in this specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not exclude one or more other Presence or addition of features, wholes, steps, operations, elements, components and / or collections thereof.

[0032] It should...

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Abstract

The invention is applicable to the technical field of robots, and particularly relates to a path planning method and device, a robot and a storage medium method and device. The method comprises the steps of determining a first control point and a target point, and obtaining an original map of the robot from the first control point to the target point; processing the original map by using an artificial potential field method to obtain a potential field map; according to the first control point, the target point, a control point calculation formula and a control point screening rule, calculatingand selecting J control points located between the first control point and the target point in the potential field map; determining K spline curves passing through the first control point, the J control points and the target point; and planning a walking path of the robot according to the K spline curves. According to the invention, the problems of strong randomness and poor controllability of the path planning algorithm of the existing mobile robot can be solved, so that the planned path is smooth, the motion characteristics of the robot are met, better obstacle avoidance capability can be achieved, and smoother sensory experience is provided for people.

Description

technical field [0001] The present application belongs to the technical field of robots, and in particular relates to a path planning method, device, robot and storage medium. Background technique [0002] With the development of sensor technology, artificial intelligence and other technologies, the field of robotics has become a booming emerging field, and mobile robots, as an important application, have received more and more attention. [0003] At present, the local path planning of most mobile robots is mainly based on single-source shortest path algorithm (Dijkstra algorithm, D algorithm), heuristic algorithms (heuristic approaches, A algorithm) and other algorithms. These algorithms have wide adaptability, but randomness It is very strong, but the controllability is relatively poor. It does not consider the global consistency and the motion characteristics of the robot itself, making the planned path extremely uneven, which makes the robot's motion behavior look extrem...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0217G05D2201/0217Y02P90/02
Inventor 夏舸李超孙其民
Owner 深圳优地科技有限公司
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