Robot movement method, device, electronic equipment and storage medium

Abstract

The present disclosure provides a robot movement method, device, electronic equipment, and storage medium used in an unknown environment, which are applied in the field of robotics, including: determining a set of passable gaps around the robot; based on the current orientation of the robot and the robot Select the target gap from the set of passable gaps toward the angle between the end directions; calculate the expected motion direction according to the target gap; use the dynamic window method to make the robot move along the desired motion direction. Make the robot move along the edge of the obstacle, make the robot be guided by the obstacle, and get rid of the local minimum.

Description

technical field [0001] The present application relates to the field of robotics, and in particular, to a method, device, electronic device and storage medium for robot motion in an unknown environment. Background technique [0002] The core of the robot navigation method is path planning, and the path planning algorithm is mainly divided into global path planning and local path planning. Since the unknown environment means that the mobile robot does not have any prior information about the environment, the navigation of the unknown environment can generally only be realized by the local robot motion method. The local robot motion method refers to the use of sensors to collect the distribution of obstacles around the robot, and only use this local information to plan the robot's movement behavior, so that the robot can safely reach the end point. [0003] Existing gap-based navigation methods rarely make full use of sensor data. For example, some algorithms that judge whethe...

AI Technical Summary

Problems solved by technology

[0003] Existing gap-based navigation methods rarely make full use of sensor data. For example, some algorithms that judge whether it is a gap by the angle of the "opening" obviously cannot extract the overlap between two obstacles, but the width between them is sufficient. For large gaps, another example is the method of judging whether it is a gap based on the distance of the opening. Due to insufficient consideration of the algorithm, the gap that cannot allow the robot to pass may be judged as a passable gap

Or, due to the lack of prior knowledge about the environment, gap-based planning methods blindly choose the gap closest to the direction of the end point, and in some complex environments, this often leads to a deadlock for the robot, which can no longer approach the end point.

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