CN110703758A - Path planning method and device - Google Patents
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0285—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using signals transmitted via a public communication network, e.g. GSM network
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Abstract
The invention discloses a path planning method and a path planning device, and relates to the technical field of computers. A specific embodiment of the method includes acquiring a local path in a global path plan, and judging whether an obstacle exists in the local path; if no obstacle exists, executing the local path; if the obstacle exists, the current forward looking distance is shortened by a preset value, the local path is re-planned until the obstacle does not exist in the local path, and the re-planned local path is executed. Therefore, the method and the device can solve the problem that the path planning passes through the barrier in the prior art.
Description
Technical Field
The invention relates to the technical field of computers, in particular to a path planning method and a path planning device.
Background
The method adds information related to time into a constraint equation, so that a track is obtained after optimization and can be directly applied to the walking of the unmanned vehicle.
The establishment of the constraint equation takes into account the kinematics model of the unmanned vehicle and the contents of the surrounding environment information and the like during the operation of the unmanned vehicle. Then an unconstrained quadratic optimization problem from the current position of the unmanned vehicle to the local terminal is established.
When the unconstrained quadratic optimization problem is solved, the g2o algorithm is used for solving, and a final motion track is obtained through multiple iterative optimization. And finally, converting the obtained motion trail into a control signal and transmitting the control signal to the bottom layer controller.
In the process of implementing the invention, the inventor finds that at least the following problems exist in the prior art:
the TEB optimization solution process is to get all the constraints through various transformations into an unconstrained problem that can be optimized using g2 o. This makes the path planning problem simplify to a graph optimization problem, provides new solution for path planning. However, just because all constraints are written into one optimization equation, and hard constraints are lacked, all constraints become final tracks with different tendencies by adjusting weights of different constraints, which may cause a situation that a finally planned path passes through an obstacle, and further cause a failure in path planning.
Disclosure of Invention
In view of this, embodiments of the present invention provide a path planning method and apparatus, which can solve the problem in the prior art that a path plan passes through an obstacle.
In order to achieve the above object, according to an aspect of the embodiments of the present invention, a path planning method is provided, including obtaining a local path in a global path planning, and determining whether an obstacle exists in the local path; if no obstacle exists, executing the local path; if the obstacle exists, the current forward looking distance is shortened by a preset value, the local path is re-planned until the obstacle does not exist in the local path, and the re-planned local path is executed.
Optionally, obtaining a local path in the global path plan includes:
and receiving the global path, and acquiring an initial value of the global path to optimize through a TEB algorithm to obtain an optimized local path.
Optionally, the determining whether an obstacle exists in the local path includes:
and recording position information of the obstacles by adopting a cost map, and determining whether the obstacles exist in the local path by judging whether the local path comprises the position information.
Optionally, comprising:
if the obstacle exists, the current forward looking distance is shortened by half, the local path is re-planned until the obstacle does not exist in the local path, and then the re-planned local path is executed.
In addition, according to an aspect of the embodiments of the present invention, there is provided a path planning apparatus, including a determining module, configured to obtain a local path in a global path planning, and determine whether an obstacle exists in the local path; a processing module for executing the local path if no obstacle exists; if the obstacle exists, the current forward looking distance is shortened by a preset value, the local path is re-planned until the obstacle does not exist in the local path, and the re-planned local path is executed.
Optionally, the obtaining, by the determining module, a local path in the global path plan includes:
and receiving the global path, and acquiring an initial value of the global path to optimize through a TEB algorithm to obtain an optimized local path.
Optionally, the determining module determines whether an obstacle exists in the local path, including:
and recording position information of the obstacles by adopting a cost map, and determining whether the obstacles exist in the local path by judging whether the local path comprises the position information.
Optionally, the processing module is configured to:
if the obstacle exists, the current forward looking distance is shortened by half, the local path is re-planned until the obstacle does not exist in the local path, and then the re-planned local path is executed.
According to another aspect of the embodiments of the present invention, there is also provided an electronic device, including:
one or more processors;
a storage device for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement the method of any of the path planning embodiments described above.
According to another aspect of the embodiments of the present invention, there is also provided a computer-readable medium, on which a computer program is stored, which when executed by a processor, implements the method according to any of the above embodiments of path-based planning.
One embodiment of the above invention has the following advantages or benefits: the method comprises the steps of judging whether an obstacle exists in a local path or not by acquiring the local path in the global path planning; if no obstacle exists, executing the local path; if the obstacle exists, the current forward looking distance is shortened by a preset value, the local path is re-planned until the obstacle does not exist in the local path, and the re-planned local path is executed. Therefore, the invention can optimize the path by adaptively adjusting the position of the local terminal point, thereby avoiding the situation of crossing the barrier.
Further effects of the above-mentioned non-conventional alternatives will be described below in connection with the embodiments.
Drawings
The drawings are included to provide a better understanding of the invention and are not to be construed as unduly limiting the invention. Wherein:
FIG. 1 is a schematic diagram of a main flow of a path planning method according to a first embodiment of the present invention
Fig. 2 is a schematic diagram of a main flow of a path planning method according to a second embodiment of the present invention;
fig. 3 is a schematic diagram of a main flow of a path planning method according to a third embodiment of the present invention;
FIG. 4 is a schematic diagram of path optimization according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of the main modules of a path planner according to an embodiment of the present invention;
FIG. 6 is an exemplary system architecture diagram in which embodiments of the present invention may be employed;
fig. 7 is a schematic block diagram of a computer system suitable for use in implementing a terminal device or server of an embodiment of the invention.
Detailed Description
Exemplary embodiments of the present invention are described below with reference to the accompanying drawings, in which various details of embodiments of the invention are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the invention. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
Fig. 1 is a schematic diagram of a main flow of a path planning method according to a first embodiment of the present invention, where the path planning method may include:
step S101, a local path in the global path planning is obtained, and whether an obstacle exists in the local path is judged.
Preferably, obtaining the local path in the global path plan includes: and receiving the global path, and acquiring an initial value of the global path to optimize through a TEB algorithm to obtain an optimized local path.
In addition, when judging whether the local path has the obstacle, the position information of the obstacle can be recorded by adopting a cost map, and whether the local path has the obstacle or not can be further determined by judging whether the local path comprises the position information or not. The cost map is used for storing information of obstacles, information of a sensor can be automatically acquired to perform self-updating, and the sensor is used for marking the information of the obstacles or clearing the information of the obstacles in the map.
Further, the distribution situation of the obstacles in the grid map is recorded through a costmap of the cost map, and whether the unmanned vehicle passes through the obstacle points recorded by the costmap in the driving process along the current local path or not is judged, namely whether the current local path comprises the recorded obstacle points or not, so that whether the local path passes through the obstacles or not is determined.
Step S102, if no obstacle exists, executing the local path; if the obstacle exists, the current forward looking distance is shortened by a preset value, the local path is re-planned until the obstacle does not exist in the local path, and the re-planned local path is executed.
Wherein, the forward looking distance refers to the distance planned in the forward direction.
Further, if the obstacle exists, the current forward looking distance is shortened by half, the local path is re-planned until the obstacle does not exist in the local path, and then the re-planned local path is executed.
Further, if no obstacle exists, the current local path is transmitted to the controller for execution, and simultaneously the planning of the TEB local path of the next period is entered.
If the obstacle exists, the current forward looking distance is shortened by half, the local path is re-optimized through the TEB, the optimized local path is judged again, if the obstacle still exists, the forward looking distance is circularly shortened by half again, the process of re-optimizing the local path through the TEB is repeated until the obstacle does not exist in the local path, and the next period of planning of the TEB local path is entered. The local paths are optimized by continuously adjusting the foresight distance according to the previous description, so that each TEB local path planning period can be ensured to obtain a path which can enable the unmanned vehicle to safely run, and the continuity and the safety of the unmanned vehicle movement are ensured.
In summary, the present invention provides a path planning method, which can shorten the length of the TEB optimized path by continuously moving the final end point, and can effectively avoid the situation that the path passes through the obstacle. That is to say, the invention creatively ensures that the optimal, safe and feasible path can be obtained by the TEB in each planning period in a mode of adaptively adjusting the front sight distance in order to ensure the continuity and the safety of the movement of the unmanned vehicle when the TEB optimizes and generates the path passing through the barrier, thereby ensuring that the unmanned vehicle can efficiently, safely and stably run.
Fig. 2 is a schematic diagram of a main flow of a path planning method according to a second embodiment of the present invention, where the path planning method may include:
step S201, a local path in the global path planning is acquired.
Preferably, obtaining the local path in the global path plan includes: and receiving the global path, and acquiring an initial value of the global path to optimize through a TEB algorithm to obtain an optimized local path.
Step S202, judging whether an obstacle exists in the local path, if so, performing step S203, otherwise, performing step S204.
Preferably, the distribution situation of the obstacles in the grid map is recorded through a costmap of the cost map, and whether the unmanned vehicle passes through the obstacle points recorded by the costmap in the process of driving along the current local path or not is judged, that is, whether the current local path includes the recorded obstacle points or not is judged, so that whether the local path passes through the obstacles or not is determined.
Step S203, the current forward looking distance is shortened by half, the local path is re-planned, and the process returns to step S202.
In an embodiment, the preset value is half, i.e. the current look-ahead distance is changed to half.
And step S204, executing the local path.
Fig. 3 is a schematic diagram of a main flow of a path planning method according to a third embodiment of the present invention, the path planning method including:
step S301, receiving the global path, and acquiring an initial value of the global path.
And step S302, obtaining the optimized local path through a TEB algorithm.
Step S303, determining whether an obstacle exists in the local path, if so, performing step S304, otherwise, performing step S305.
Preferably, the position information of the obstacle is recorded by using a cost map, and whether the obstacle exists in the local path is determined by judging whether the local path includes the position information.
Step S304, the current forward looking distance is shortened by half, the local path is re-planned, and the step S303 is returned.
In an embodiment, the preset value is half, i.e. the current look-ahead distance is changed to half.
Step S305, executing the local path.
For example, as shown in FIG. 4, if the current local path is from point A to point B, the uppermost line between points A and B crosses the obstacle. In this case, the result of the optimization by the path planning method of the present invention is the lowest connecting line between the points a and B.
The specific implementation process comprises the following steps:
when the above situation occurs, the position from the end point B to the point B1 (the current forward looking distance is changed to one half of the last end point) is adaptively adjusted, that is, the distance from the point a to the point B1 is half of the distance from the point a to the point B, and then the optimization is carried out again, obviously, the obstacle is not crossed in the process from the point a to the point B1. Because TEB optimization is planned according to a certain period, the TEB optimization belongs to online planning and is executed while planning, and in the next planning period, no vehicle reaches the position of the point A1, whether the optimized path from the point A1 to the point B passes through the barrier or not is judged again, and if not, the local path planning from the point A to the point B is completed. If the situation of crossing the obstacle still happens from the point A1 to the point B, the midpoint of the point A1 and the point B is selected as a new endpoint for optimization, and the steps are repeated until the point B is reached. Therefore, by continuously and adaptively adjusting the foresight distance, the TEB can be ensured to have a drivable path in each planning period, and the motion continuity of the unmanned vehicle is ensured.
Fig. 5 is a schematic diagram of main modules of a path planning apparatus according to an embodiment of the present invention, and as shown in fig. 5, the path planning apparatus 500 includes a determining module 501 and a processing module 502. The determining module 501 obtains a local path in the global path plan, and determines whether an obstacle exists in the local path. If the obstacle does not exist, the processing module 502 executes the local path; if the obstacle exists, the current forward looking distance is shortened by a preset value, the local path is re-planned until the obstacle does not exist in the local path, and the re-planned local path is executed.
Preferably, the determining module 501 obtains a local path in the global path plan, including:
and receiving the global path, and acquiring an initial value of the global path to optimize through a TEB algorithm to obtain an optimized local path.
In addition, the determining module 501 determines whether an obstacle exists in the local path, including:
and recording position information of the obstacles by adopting a cost map, and determining whether the obstacles exist in the local path by judging whether the local path comprises the position information.
It should be noted that, if there is an obstacle, the processing module 502 shortens the current forward-looking distance by half, replans the local path until there is no obstacle in the local path, and then executes the replanned local path.
It should be noted that the path planning method and the path planning apparatus of the present invention have corresponding relationship in the specific implementation content, and therefore, the repeated content is not described again.
Fig. 6 shows an exemplary system architecture 600 to which the path planning method or the path planning apparatus according to the embodiments of the present invention may be applied.
As shown in fig. 6, the system architecture 600 may include terminal devices 601, 602, 603, a network 604, and a server 605. The network 604 serves to provide a medium for communication links between the terminal devices 601, 602, 603 and the server 605. Network 604 may include various types of connections, such as wire, wireless communication links, or fiber optic cables, to name a few.
A user may use the terminal devices 601, 602, 603 to interact with the server 605 via the network 604 to receive or send messages or the like. The terminal devices 601, 602, 603 may have installed thereon various communication client applications, such as shopping applications, web browser applications, search applications, instant messaging tools, mailbox clients, social platform software, etc. (by way of example only).
The terminal devices 601, 602, 603 may be various electronic devices having a display screen and supporting web browsing, including but not limited to smart phones, tablet computers, laptop portable computers, desktop computers, and the like.
The server 605 may be a server providing various services, such as a background management server (for example only) providing support for shopping websites browsed by users using the terminal devices 601, 602, 603. The backend management server may analyze and perform other processing on the received data such as the product information query request, and feed back a processing result (for example, target push information, product information — just an example) to the terminal device.
It should be noted that the path planning method provided by the embodiment of the present invention is generally executed by the server 605, and accordingly, the path planning apparatus is generally disposed in the server 605.
It should be understood that the number of terminal devices, networks, and servers in fig. 6 is merely illustrative. There may be any number of terminal devices, networks, and servers, as desired for implementation.
Referring now to FIG. 7, shown is a block diagram of a computer system 700 suitable for use with a terminal device implementing an embodiment of the present invention. The terminal device shown in fig. 7 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present invention.
As shown in fig. 7, the computer system 700 includes a Central Processing Unit (CPU)701, which can perform various appropriate actions and processes in accordance with a program stored in a Read Only Memory (ROM)702 or a program loaded from a storage section 708 into a Random Access Memory (RAM) 703. In the RAM703, various programs and data necessary for the operation of the system 700 are also stored. The CPU701, the ROM702, and the RAM703 are connected to each other via a bus 704. An input/output (I/O) interface 705 is also connected to bus 704.
The following components are connected to the I/O interface 705: an input portion 706 including a keyboard, a mouse, and the like; an output section 707 including a display such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, and a speaker; a storage section 708 including a hard disk and the like; and a communication section 709 including a network interface card such as a LAN card, a modem, or the like. The communication section 709 performs communication processing via a network such as the internet. A drive 710 is also connected to the I/O interface 705 as needed. A removable medium 711 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 710 as necessary, so that a computer program read out therefrom is mounted into the storage section 708 as necessary.
In particular, according to the embodiments of the present disclosure, the processes described above with reference to the flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In such an embodiment, the computer program can be downloaded and installed from a network through the communication section 709, and/or installed from the removable medium 711. The computer program performs the above-described functions defined in the system of the present invention when executed by the Central Processing Unit (CPU) 701.
It should be noted that the computer readable medium shown in the present invention can be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present invention, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present invention, however, a computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The modules described in the embodiments of the present invention may be implemented by software or hardware. The described modules may also be provided in a processor, which may be described as: a processor includes a determination module and a processing module. Wherein the names of the modules do not in some cases constitute a limitation of the module itself.
As another aspect, the present invention also provides a computer-readable medium that may be contained in the apparatus described in the above embodiments; or may be separate and not incorporated into the device. The computer readable medium carries one or more programs which, when executed by a device, cause the device to comprise: acquiring a local path in global path planning, and judging whether an obstacle exists in the local path; if no obstacle exists, executing the local path; if the obstacle exists, the current forward looking distance is shortened by a preset value, the local path is re-planned until the obstacle does not exist in the local path, and the re-planned local path is executed.
According to the technical scheme of the embodiment of the invention, the problem that the path plan passes through the barrier in the prior art can be solved.
The above-described embodiments should not be construed as limiting the scope of the invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions can occur, depending on design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A method of path planning, comprising:
acquiring a local path in global path planning, and judging whether an obstacle exists in the local path;
if no obstacle exists, executing the local path; if the obstacle exists, the current forward looking distance is shortened by a preset value, the local path is re-planned until the obstacle does not exist in the local path, and the re-planned local path is executed.
2. The method of claim 1, wherein obtaining a local path in a global path plan comprises:
and receiving the global path, and acquiring an initial value of the global path to optimize through a TEB algorithm to obtain an optimized local path.
3. The method of claim 1, wherein determining whether an obstacle is present in the local path comprises:
and recording position information of the obstacles by adopting a cost map, and determining whether the obstacles exist in the local path by judging whether the local path comprises the position information.
4. A method according to any one of claims 1 to 3, comprising:
if the obstacle exists, the current forward looking distance is shortened by half, the local path is re-planned until the obstacle does not exist in the local path, and then the re-planned local path is executed.
5. A path planning apparatus, comprising:
the judging module is used for acquiring a local path in the global path planning and judging whether an obstacle exists in the local path;
a processing module for executing the local path if no obstacle exists; if the obstacle exists, the current forward looking distance is shortened by a preset value, the local path is re-planned until the obstacle does not exist in the local path, and the re-planned local path is executed.
6. The apparatus of claim 5, wherein the determining module obtains the local path in the global path plan, and comprises:
and receiving the global path, and acquiring an initial value of the global path to optimize through a TEB algorithm to obtain an optimized local path.
7. The apparatus of claim 5, wherein the determining module determines whether an obstacle exists in the local path, comprising:
and recording position information of the obstacles by adopting a cost map, and determining whether the obstacles exist in the local path by judging whether the local path comprises the position information.
8. The apparatus of any one of claims 5-7, wherein the processing module is configured to:
if the obstacle exists, the current forward looking distance is shortened by half, the local path is re-planned until the obstacle does not exist in the local path, and then the re-planned local path is executed.
9. An electronic device, comprising:
one or more processors;
a storage device for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement the method of any one of claims 1-4.
10. A computer-readable medium, on which a computer program is stored, which, when being executed by a processor, carries out the method according to any one of claims 1-4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911025602.1A CN110703758A (en) | 2019-10-25 | 2019-10-25 | Path planning method and device |
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