CN111061278A - Path planning method and device, computer equipment and storage medium - Google Patents
Path planning method and device, computer equipment and storage medium Download PDFInfo
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Abstract
The present disclosure provides a path planning method, apparatus, computer device and storage medium, wherein the method comprises: acquiring a driving path of a target robot; dividing a driving path into a plurality of driving road sections in sequence; taking the divided front preset number of driving road sections as a driving road section group special for the current distribution to the target robot; controlling the target robot to travel according to the travel sections included in the travel section group; and when the target robot is detected to reach the target driving road section in the driving road section group, taking the preset number of driving road sections from the target driving road section as the driving road section group which is currently allocated to the target robot and returns to the step of controlling the target robot to drive according to the driving road section information included in the driving road section group until the target robot reaches the last driving road section. By adopting the scheme, the driving road section group distributed at each time only occupies part of the driving road section of the whole driving path, and the utilization rate of the path is improved.
Description
Technical Field
The present disclosure relates to the field of intelligent control technologies, and in particular, to a path planning method and apparatus, a computer device, and a storage medium.
Background
With the continuous development of artificial intelligence and robot technology, robots are widely applied in various industries, such as office buildings, hotel buildings and other places for autonomous article transportation. At present, when a transportation task is allocated to a robot, a travel path corresponding to the transportation task needs to be indicated to the robot, so that the robot can complete the corresponding transportation task according to the indicated travel path.
In order to avoid an abnormal situation such as a collision that may occur when a plurality of robots complete a transportation task along a travel path, the travel path of one robot needs to be locked before the one robot completes the transportation task. However, since the travel path is locked, other robots cannot use the corresponding path in synchronization, resulting in a low utilization rate of the path.
Disclosure of Invention
The embodiment of the disclosure provides at least one path planning scheme, and the result of path division ensures that the robot only uses a special part of the driving paths, and other driving paths can still be used, so that the utilization rate of the paths is improved.
Mainly comprises the following aspects:
in a first aspect, an embodiment of the present disclosure provides a path planning method, where the method includes:
acquiring a driving path of a target robot;
dividing the driving path into a plurality of driving road sections in sequence;
taking the divided front preset number of driving road sections as a driving road section group which is currently allocated to the target robot and is special for the target robot;
controlling the target robot to travel according to the travel sections included in the travel section group;
and when the target robot is detected to reach a target driving road section in the driving road section group, taking a preset number of driving road sections from the target driving road section as the driving road section group which is currently allocated to the target robot and returning to the step of controlling the target robot to drive according to the driving road section information included in the driving road section group until the target robot reaches the last driving road section.
In a second aspect, the present disclosure also provides a path planning apparatus, including:
the acquisition module is used for acquiring a driving path of the target robot;
the dividing module is used for sequentially dividing the driving path into a plurality of driving road sections;
the generation module is used for taking the divided front preset number of driving road sections as a driving road section group which is currently allocated to the target robot and is special for the target robot;
the control module is used for controlling the target robot to run according to the running road sections included in the running road section group;
and the detection module is used for taking a preset number of driving sections from the target driving section as the driving section group which is currently allocated to the target robot and is specially used for the target robot when the target robot is detected to reach the target driving section in the driving section group, and returning to the step of controlling the target robot to drive according to the driving section information included in the driving section group until the target robot reaches the last driving section.
In a third aspect, the present disclosure also provides a computer device, including: a processor, a memory and a bus, the memory storing machine-readable instructions executable by the processor, the processor and the memory communicating over the bus when a computer device is run, the machine-readable instructions when executed by the processor performing the steps of the path planning method according to the first aspect.
In a fourth aspect, the present disclosure also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the path planning method according to the first aspect.
By adopting the scheme, after acquiring the driving path of the target robot, the server can firstly divide the driving path into a plurality of driving sections in sequence, and the divided previous preset number of travel sections are taken as a travel section group which is currently allocated to the target robot, to control the target robot to travel along a travel route included in the travel route group, such that, upon detecting the target robot reaching a target travel route in the travel route group, that is, a preset number of travel sections from the target travel section may be set as a travel section group dedicated to the target robot at present, and returning to the step of controlling the target robot to travel according to the travel section information included in the travel section group until the target robot reaches the last travel section. By adopting the scheme, the current running road section group allocated to the target robot is continuously updated along with the running of the target robot, so that the running road section group allocated at each time only occupies part of the running road section of the whole running path, and other unoccupied running road sections can be allocated to other robots to be used, thereby improving the utilization rate of the path.
In order to make the aforementioned objects, features and advantages of the present disclosure more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings required for use in the embodiments will be briefly described below, and the drawings herein incorporated in and forming a part of the specification illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the technical solutions of the present disclosure. It is appreciated that the following drawings depict only certain embodiments of the disclosure and are therefore not to be considered limiting of its scope, for those skilled in the art will be able to derive additional related drawings therefrom without the benefit of the inventive faculty.
Fig. 1 shows a flowchart of a path planning method provided in an embodiment of the present disclosure;
fig. 2 is a schematic diagram illustrating an application of a path planning method according to a first embodiment of the present disclosure;
fig. 3 is a flowchart illustrating a specific method for determining a target driving section in a path planning method according to a first embodiment of the disclosure;
fig. 4 is a schematic diagram illustrating a path planning apparatus according to a second embodiment of the disclosure;
fig. 5 shows a schematic diagram of a computer device provided in a third embodiment of the present disclosure.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present disclosure more clear, the technical solutions of the embodiments of the present disclosure will be described clearly and completely with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are only a part of the embodiments of the present disclosure, not all of the embodiments. The components of the embodiments of the present disclosure, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present disclosure, presented in the figures, is not intended to limit the scope of the claimed disclosure, but is merely representative of selected embodiments of the disclosure. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the disclosure without making creative efforts, shall fall within the protection scope of the disclosure.
The following first explains the meanings of some terms involved in the embodiments of the present disclosure.
The robot, a machine device for automatically executing work, can receive commands, run pre-coded programs and perform actions according to principles formulated by artificial intelligence technology. The robot in the embodiments of the present disclosure may be a robot that performs a target task, such as a robot that performs delivery of flowers, food, documents, and the like.
And the cells (also called grids) are used for dividing the activity field of the robot into a plurality of results so as to ensure that the robot can freely move in the cells, wherein the robot can drive along the middle line of the cells.
And a travel path for a path taken by the robot when the robot travels within the cell, and the travel path may include a travel starting point position and a travel ending point position, and a travel track point position between the travel starting point position and the travel ending point position. For example, a path from the current driving position of the robot to the target mission point position may be planned for the robot.
According to research, in a related path planning scheme, due to the fact that a driving path is locked, other robots cannot synchronously use the corresponding path, and therefore the utilization rate of the path is low.
Based on the research, the method and the system provide at least one path planning scheme, and ensure that the robot only uses a special part of driving paths through a path dividing result, and other driving paths can still be used, so that the utilization rate of the paths is improved.
The above-mentioned drawbacks are the results of the inventor after practical and careful study, and therefore, the discovery process of the above-mentioned problems and the solutions proposed by the present disclosure to the above-mentioned problems should be the contribution of the inventor in the process of the present disclosure.
The technical solutions in the present disclosure will be described clearly and completely with reference to the accompanying drawings in the present disclosure, and it is to be understood that the described embodiments are only a part of the embodiments of the present disclosure, and not all of the embodiments. The components of the present disclosure, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present disclosure, presented in the figures, is not intended to limit the scope of the claimed disclosure, but is merely representative of selected embodiments of the disclosure. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the disclosure without making creative efforts, shall fall within the protection scope of the disclosure.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
To facilitate understanding of the present embodiment, first, a path planning method disclosed in the embodiments of the present disclosure is described in detail, where an execution subject of the path planning method provided in the embodiments of the present disclosure is generally a computer device with certain computing capability, and the computer device includes, for example: a terminal device, which may be a User Equipment (UE), a mobile device, a User terminal, a cellular phone, a cordless phone, a Personal Digital Assistant (PDA), a handheld device, a computing device, a vehicle mounted device, a wearable device, or a server or other processing device. In some possible implementations, the path planning method may be implemented by a processor calling computer readable instructions stored in a memory.
The path planning method provided by the embodiment of the disclosure is described below by taking the execution subject as a server.
Example one
Referring to fig. 1, which is a flowchart of a path planning method provided in an embodiment of the present disclosure, the method includes steps S101 to S105, where:
s101, acquiring a running path of a target robot;
s102, sequentially dividing a driving path into a plurality of driving road sections;
s103, taking the divided front preset number of driving road sections as a driving road section group which is currently allocated to a target robot;
s104, controlling the target robot to run according to the running road sections included in the running road section group;
and S105, when the target robot is detected to reach the target driving road section in the driving road section group, taking the preset number of driving road sections from the target driving road section as the driving road section group which is currently allocated to the target robot and returns to the step of controlling the target robot to drive according to the driving road section information included in the driving road section group until the target robot reaches the last driving road section.
Here, in order to facilitate understanding of the path planning method provided by the embodiment of the present disclosure, an application scenario of the path control planning method is briefly described first. When the target robot is controlled to execute the target task, the server needs to determine a driving path from the current driving position to the position of the target task, so that the robot can drive to the position of the target task based on the driving path to complete the corresponding target task.
Considering that the running path from the current running position to the target task of the robot can often occupy a plurality of cells, in this case, in order to avoid collision between the robots, the occupation of the cells by other robots needs to be avoided. Therefore, when the corresponding travel path of the robot is longer, the utilization rate of the cells is lower. It is to solve this problem that the embodiments of the present disclosure provide a scheme for implementing dynamic allocation of travel segments based on a path division policy.
In the embodiment of the disclosure, the driving route may be divided based on the preset road segment length to obtain a plurality of driving road segments, wherein one driving road segment may occupy one or more cells, and then the driving process of the robot is described by taking one driving road segment occupying one cell as an example. As shown in fig. 2, the travel path has 9 travel sections (the rest are not shown) and 9 cells, and the robot can travel along 1-9 cells in sequence according to the dedicated travel section group dynamically allocated to the target robot by the server.
Here, when the dedicated travel link group is first assigned to the target robot, the previously preset number of travel links may be set as the dedicated travel link group currently assigned to the target robot. In the embodiment of the present disclosure, once it is detected that the target robot travels to the target travel section among the travel sections, a preset number of travel sections from which the target travel section starts may be taken as the dedicated travel section group currently allocated to the target robot, that is, the next allocation of the dedicated travel section group may be triggered based on the detection result of the target travel section. After the control robot drives according to the driving road section information included in the driving road section group allocated next time, whether the target robot reaches the target driving road section in the driving road section group allocated next time can be detected, if yes, the next allocation of the driving road section group can be triggered again based on the detection result of the target driving road section, and the like can be performed until the last driving road section after the driving path division is reached.
Still taking the traveling path shown in fig. 2 as an example, if the preset number is 5, the traveling path group corresponding to the 1 st to 5 th cells (corresponding to the first 5 traveling paths) can be assigned to the target robot for the first time. After being assigned to this travel segment group, the robot can start traveling from the 1 st cell. At this time, after the server transmits the coordinate position corresponding to the 5 th cell to the target robot, the robot takes the travel section corresponding to the 5 th cell as a scheduling destination, that is, the robot can travel toward the 5 th cell.
The path planning method provided by the embodiment of the disclosure allocates a next driving road section group to the target robot again when it is determined that the target robot reaches the 2 nd driving road section (corresponding to the target driving road section) in the first allocated driving road section group, and the next driving road section group is obtained after the 2 nd driving road section in the first allocated driving road section group is taken as the initial driving road section and 4 driving road sections are sequentially selected, that is, the 2 nd driving road section to the 6 th driving road section can be taken as the driving road section group allocated to the target robot again.
Considering that the server has allocated the first 5 travel sections to the target robot for the first time, that is, the target robot can specify the relevant position information of the first 5 travel sections, the server can send the coordinate position corresponding to the 6 th cell to the target robot, and the robot takes the travel section corresponding to the 6 th cell as the scheduling destination, that is, the robot can walk toward the 6 th cell. And the rest is done in sequence until the robot walks to the 9 th cell.
In the embodiment of the disclosure, the determination of the target driving road section is mainly related to the working principle of the robot driving. That is, the robot may first accelerate to a maximum travel speed after receiving a target task, and then may need to decelerate early near a corner location (e.g., cell 7 shown in fig. 2) or a destination location. In the embodiment of the present disclosure, in order to ensure that the robot can travel at a large travel speed in each allocated travel route group, the target travel route may be selected from the travel route group in combination with the maximum braking distance of the target robot and the route lengths of the travel routes in the travel route group.
For example, the maximum braking distance of the target robot is 400 meters, the travel section group includes 5 travel sections, and the section length of each travel section is 100 meters, and at this time, the target travel section may be selected as the 2 nd travel section, and if the maximum braking distance is 300 meters, the target travel section may be selected as the 3 rd travel section.
Like this, this disclosed embodiment can ensure that the target robot carries out the next distribution of the highway section group of traveling promptly before the speed reduction to make the robot remain throughout at best speed of traveling, when promoting the route utilization ratio, promote the work efficiency of robot.
In the embodiment of the disclosure, in the process of controlling the target robot to travel by the server, the robot navigation instruction may be generated based on the travel sections included in the travel section group, and then the generated robot navigation instruction is sent to the target robot, so that the robot travels according to the robot navigation instruction.
It should be noted that, each time a travel section group is allocated, a corresponding robot navigation instruction may be generated, so as to control the robot to travel by planning a robot segment path.
Considering that the determination result of whether the target robot reaches the target travel section in the travel section group directly results in the next assignment of the travel section group, the present disclosure provides a determination method of whether to reach the target travel section in the travel section group based on the positional relationship, as shown in fig. 3, specifically including the steps of:
s301, receiving the current driving position reported by the target robot;
s302, determining whether the current driving position falls into position range information of a target driving road section in the driving road section group;
and S303, if so, determining that the target robot reaches a target driving road section in the driving road section group.
Here, the server may first determine the current travel position reported by the target robot, and then may determine whether the current travel position falls within the position range information to which the target travel link in the travel link group belongs. The cell range where the target driving road section is located may be determined as the position range where the target driving road section belongs, as shown in fig. 2, the cell range where the 2 nd driving road section is located may be determined as the position range where the target driving road section belongs, and at this time, if it is determined that the current driving position of the robot falls within the range where the second cell is located, it may be determined that the robot reaches the target driving road section.
It will be understood by those skilled in the art that in the method of the present invention, the order of writing the steps does not imply a strict order of execution and any limitations on the implementation, and the specific order of execution of the steps should be determined by their function and possible inherent logic.
Based on the same inventive concept, a path planning device corresponding to the path planning method is also provided in the embodiments of the present disclosure, and as the principle of solving the problem of the device in the embodiments of the present disclosure is similar to the path planning method in the embodiments of the present disclosure, the implementation of the device may refer to the implementation of the method, and repeated details are not repeated.
Example two
Referring to fig. 4, which is a schematic diagram of a path planning apparatus provided in a second embodiment of the present disclosure, the apparatus includes:
an obtaining module 401, configured to obtain a driving path of a target robot;
a dividing module 402, configured to divide the driving route into a plurality of driving road segments in sequence;
a generating module 403, configured to use the divided preset number of driving road segments as a driving road segment group dedicated to the target robot;
a control module 404 for controlling the target robot to travel according to the travel sections included in the travel section group;
a detection module 405, configured to, when it is detected that the target robot reaches a target travel route in the travel route group, take a preset number of travel routes from the target travel route as a dedicated travel route group currently allocated to the target robot, and return to the step of controlling the target robot to travel according to travel route information included in the travel route group until the target robot reaches the last travel route.
In one embodiment, the control module 404 is configured to control the target robot to travel according to the travel section information included in the travel section group according to the following steps:
generating a robot navigation instruction based on the travel sections included in the travel section group;
and sending the generated robot navigation instruction to a target robot so that the robot can drive according to the robot navigation instruction.
In one embodiment, the detection module 405 is configured to determine a target travel segment from a set of travel segments according to the following steps:
and selecting the target driving road section from the driving road section group based on the maximum braking distance of the target robot and the road section length of each driving road section in the driving road section group.
In one embodiment, the detection module 405 is configured to determine that the target robot arrives at a target travel section of the set of travel sections according to the following steps:
receiving a current driving position reported by a target robot;
determining whether the current driving position falls into position range information to which a target driving road section in the driving road section group belongs;
if so, determining that the target robot reaches the target driving road section in the driving road section group.
The description of the processing flow of each module in the device and the interaction flow between the modules may refer to the related description in the above method embodiments, and will not be described in detail here.
EXAMPLE III
The embodiment of the present disclosure further provides a computer device, as shown in the figure, the schematic structural diagram of the computer device provided in the embodiment of the present disclosure includes: a processor 501, a memory 502, and a bus 503. The memory 502 stores machine-readable instructions executable by the processor 501 (for example, execution instructions corresponding to the obtaining module 401, the dividing module 402, the generating module 403, the controlling module 404, and the detecting module 405 in the path planning apparatus in fig. 5, and the like), when the computer device is operated, the processor 501 and the memory 502 communicate through the bus 503, and when the machine-readable instructions are executed by the processor 501, the following processes are performed:
acquiring a driving path of a target robot;
dividing a driving path into a plurality of driving road sections in sequence;
taking the divided front preset number of driving road sections as a driving road section group special for the current distribution to the target robot;
controlling the target robot to travel according to the travel sections included in the travel section group;
and when the target robot is detected to reach the target driving road section in the driving road section group, taking the preset number of driving road sections from the target driving road section as the driving road section group which is currently allocated to the target robot and returns to the step of controlling the target robot to drive according to the driving road section information included in the driving road section group until the target robot reaches the last driving road section.
In one embodiment, the processor 501 executes an execution in which the control target robot travels according to travel route information included in a travel route group, the execution including:
generating a robot navigation instruction based on the travel sections included in the travel section group;
and sending the generated robot navigation instruction to a target robot so that the robot can drive according to the robot navigation instruction.
In one embodiment, the processor 501 executes the following steps to determine a target travel section in the travel section group:
and selecting the target driving road section from the driving road section group based on the maximum braking distance of the target robot and the road section length of each driving road section in the driving road section group.
In one embodiment, the processor 501 executes the following steps to determine that the target robot reaches the target travel path in the travel path group:
receiving a current driving position reported by a target robot;
determining whether the current driving position falls into position range information to which a target driving road section in the driving road section group belongs;
if so, determining that the target robot reaches the target driving road section in the driving road section group.
The embodiment of the present disclosure further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by the processor 501, the computer program performs the steps of the path planning method in the first embodiment of the foregoing method. The storage medium may be a volatile or non-volatile computer-readable storage medium.
The computer program product of the path planning method provided in the embodiments of the present disclosure includes a computer-readable storage medium storing a program code, where instructions included in the program code may be used to execute the steps of the path planning method described in the above method embodiments, which may be referred to specifically for the above method embodiments, and are not described herein again.
The embodiments of the present disclosure also provide a computer program, which when executed by a processor implements any one of the methods of the foregoing embodiments. The computer program product may be embodied in hardware, software or a combination thereof. In an alternative embodiment, the computer program product is embodied in a computer storage medium, and in another alternative embodiment, the computer program product is embodied in a Software product, such as a Software Development Kit (SDK), or the like.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the system and the apparatus described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again. In the several embodiments provided in the present disclosure, it should be understood that the disclosed system, apparatus, and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present disclosure may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a non-volatile computer-readable storage medium executable by a processor. Based on such understanding, the technical solution of the present disclosure may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present disclosure. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
Finally, it should be noted that: the above-mentioned embodiments are merely specific embodiments of the present disclosure, which are used for illustrating the technical solutions of the present disclosure and not for limiting the same, and the scope of the present disclosure is not limited thereto, and although the present disclosure is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive of the technical solutions described in the foregoing embodiments or equivalent technical features thereof within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present disclosure, and should be construed as being included therein. Therefore, the protection scope of the present disclosure shall be subject to the protection scope of the claims.
Claims (10)
1. A method of path planning, the method comprising:
acquiring a driving path of a target robot;
dividing the driving path into a plurality of driving road sections in sequence;
taking the divided front preset number of driving road sections as a driving road section group which is currently allocated to the target robot and is special for the target robot;
controlling the target robot to travel according to the travel sections included in the travel section group;
and when the target robot is detected to reach a target driving road section in the driving road section group, taking a preset number of driving road sections from the target driving road section as the driving road section group which is currently allocated to the target robot and returning to the step of controlling the target robot to drive according to the driving road section information included in the driving road section group until the target robot reaches the last driving road section.
2. The method according to claim 1, wherein the controlling the target robot to travel according to travel section information included in the travel section group includes:
generating a robot navigation instruction based on the travel sections included in the travel section group;
and sending the generated robot navigation instruction to the target robot so that the robot can drive according to the robot navigation instruction.
3. The method according to claim 1, characterized in that the target travel section of the set of travel sections is determined according to the following steps:
and selecting a target driving road section from the driving road section group based on the maximum braking distance of the target robot and the road section length of each driving road section in the driving road section group.
4. A method according to claim 1 or 3, wherein the target robot is determined to arrive at a target travel section of the set of travel sections according to the following steps:
receiving the current driving position reported by the target robot;
determining whether the current driving position falls into position range information to which a target driving road section in the driving road section group belongs;
if so, determining that the target robot reaches a target driving section in the driving section group.
5. A path planning apparatus, the apparatus comprising:
the acquisition module is used for acquiring a driving path of the target robot;
the dividing module is used for sequentially dividing the driving path into a plurality of driving road sections;
the generation module is used for taking the divided front preset number of driving road sections as a driving road section group which is currently allocated to the target robot and is special for the target robot;
the control module is used for controlling the target robot to run according to the running road sections included in the running road section group;
and the detection module is used for taking a preset number of driving sections from the target driving section as the driving section group which is currently allocated to the target robot and is specially used for the target robot when the target robot is detected to reach the target driving section in the driving section group, and returning to the step of controlling the target robot to drive according to the driving section information included in the driving section group until the target robot reaches the last driving section.
6. The apparatus of claim 5, wherein the control module is configured to control the target robot to travel according to travel section information included in the travel section group according to the following steps:
generating a robot navigation instruction based on the travel sections included in the travel section group;
and sending the generated robot navigation instruction to the target robot so that the robot can drive according to the robot navigation instruction.
7. The apparatus of claim 5, wherein the detection module is configured to determine the target travel segment from the set of travel segments by:
and selecting a target driving road section from the driving road section group based on the maximum braking distance of the target robot and the road section length of each driving road section in the driving road section group.
8. The apparatus of claim 5 or 7, wherein the detection module is configured to determine that the target robot has reached a target travel section of the set of travel sections by:
receiving the current driving position reported by the target robot;
determining whether the current driving position falls into position range information to which a target driving road section in the driving road section group belongs;
if so, determining that the target robot reaches a target driving section in the driving section group.
9. A computer device, comprising: a processor, a memory and a bus, the memory storing machine-readable instructions executable by the processor, the processor and the memory communicating over the bus when a computer device is run, the machine-readable instructions when executed by the processor performing the steps of the path planning method according to any of claims 1 to 4.
10. A computer-readable storage medium, having stored thereon a computer program which, when being executed by a processor, is adapted to carry out the steps of the path planning method according to any one of claims 1 to 4.
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