CN114415654A - Method and equipment for generating escaping path - Google Patents
Method and equipment for generating escaping path Download PDFInfo
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- CN114415654A CN114415654A CN202111458569.9A CN202111458569A CN114415654A CN 114415654 A CN114415654 A CN 114415654A CN 202111458569 A CN202111458569 A CN 202111458569A CN 114415654 A CN114415654 A CN 114415654A
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- 230000003247 decreasing effect Effects 0.000 claims abstract description 22
- 230000007717 exclusion Effects 0.000 claims description 13
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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
- G05D1/0263—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic strips
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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
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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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
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Abstract
The method comprises the steps of respectively constructing a cost map for at least one virtual restricted area in a grid mode, wherein each virtual restricted area comprises a core area and an escape area; the cost value of the core area in the cost map corresponding to each virtual forbidden area is higher than that of the escape area, the cost value of the core area is kept unchanged, and the cost value of the escape area is gradually decreased from one side close to the core area; acquiring the current position of the robot; matching a target virtual forbidden zone where the robot is located and a grid position of the robot in the target virtual forbidden zone based on the current position of the robot; and generating a target escaping path of the robot based on the cost map corresponding to the target virtual forbidden zone and the grid position of the robot in the target virtual forbidden zone, so that when the robot falls into a forbidden area, the robot can escape automatically without manual guard, and the safety is ensured.
Description
Technical Field
The present application relates to the field of computer technologies, and in particular, to a method and an apparatus for generating a trapped-free path.
Background
With the rapid development of computer science, the robot technology is more and more exquisite, and various robots appear in real life, which brings great convenience and unexpected surprise to the life of people. In the daily operation process of the robot, due to the fact that the scene has the regions limited by laser radar observation, such as high-transparency glass, stairs and uneven and infeasible regions, on the basis of not adding other observation sensors, a certain mark is added in a map to inform the robot system that the region is infeasible and is a dangerous region.
In the prior art, a warning of a dangerous area can be formed by adding a virtual wall in a map, wherein the virtual wall can be a straight line virtual wall, a curve virtual wall, a rectangular virtual wall or a closed loop virtual wall with any shape, and the like, so that operation and maintenance personnel on site can arbitrarily select one or more virtual walls to be added in the map according to actual needs on site. In order to avoid the robot pressing the virtual wall, the robot will actually expand the distance of the radius of the robot in each direction from the virtual wall to the outside, as shown in the white area in fig. 1, the cost values (cost values) of the searched paths within the radius are consistent, and the cost values are very high, so that the paths cannot be searched, which results in that the robot cannot reach by itself under normal conditions, thereby preventing the robot from approaching.
However, the virtual wall designed as shown in fig. 1 has a certain defect that since the cost values of the search paths within the radius of the virtual wall are the same, there is no gradient difference, which may cause the robot to move backward to the virtual wall due to obstacle avoidance, or the robot moves into the virtual wall due to a deviation in positioning on the edge of the virtual wall, and the robot cannot automatically search the path and normally gets out of the way, thereby affecting the unattended operation of the robot.
Disclosure of Invention
An object of the present application is to provide a method and an apparatus for generating a trapped-free path, which not only enable a robot to search for the trapped-free path in a virtual restricted area, but also achieve the purpose of autonomous trapped-free of the robot in the virtual restricted area.
According to an aspect of the present application, a method for generating a trapped-free path is provided, wherein the method includes:
respectively constructing cost maps for at least one virtual forbidden zone in a grid form, wherein each virtual forbidden zone comprises a core zone and an escape zone; the cost value of the core area in the cost map corresponding to each virtual forbidden area is higher than that of the escape area, the cost value of the core area is kept unchanged, and the cost value of the escape area is gradually decreased from one side close to the core area;
acquiring the current position of the robot;
matching a target virtual forbidden zone where the robot is located and a grid position of the robot in the target virtual forbidden zone based on the current position of the robot;
and generating a target escaping path of the robot based on a cost map corresponding to the target virtual forbidden zone and the grid position of the robot in the target virtual forbidden zone.
Further, in the above method, the method further includes: and creating at least one virtual forbidden zone and an interface to which the virtual forbidden zone belongs.
Further, in the above method, the method further includes: and updating the at least one virtual forbidden zone.
Further, in the above method, the generating a target getting-out-of-trouble path of the robot based on the cost map corresponding to the target virtual exclusion zone and the grid position of the robot in the target virtual exclusion zone includes:
planning at least one escaping path for the robot based on a cost map corresponding to the target virtual forbidden zone and the grid position of the robot in the target virtual forbidden zone, wherein the trend of each escaping path is from large to small in cost value;
and determining a target escaping path of the robot from the at least one escaping path.
Further, in the above method, the determining a target escape route of the robot from the at least one escape route includes:
screening out an optimal escaping path from the at least one escaping path; and determining the optimal escaping path as a target escaping path of the robot.
According to another aspect of the present application, there is also provided a non-volatile storage medium having computer readable instructions stored thereon, which when executed by a processor, cause the processor to implement the above-mentioned method for generating a trapped-free path.
According to another aspect of the present application, there is also provided an apparatus of a method for generating a trapped-free path, where the apparatus includes:
one or more processors;
a computer-readable medium for storing one or more computer-readable instructions,
when executed by the one or more processors, cause the one or more processors to implement a method of creating a trapped-free path as described above.
Compared with the prior art, the cost map is respectively constructed for at least one virtual forbidden zone in a grid mode, and each virtual forbidden zone comprises a core zone and an escape zone; the cost value of the core area in the cost map corresponding to each virtual forbidden area is higher than that of the escape area, the cost value of the core area is kept unchanged, and the cost value of the escape area is gradually decreased from one side close to the core area; in an actual application scene, acquiring the current position of the robot; matching a target virtual forbidden zone where the robot is located and a grid position of the robot in the target virtual forbidden zone based on the current position of the robot; and generating a target escaping path of the robot based on the cost map corresponding to the target virtual forbidden zone and the grid position of the robot in the target virtual forbidden zone, so that the robot can escape autonomously through the searched target escaping path when the robot carelessly falls into the virtual forbidden zone in the operation process, the whole process does not need manual guard, meanwhile, unsafe events such as collision, falling and the like caused by the robot in special scenes are effectively prevented, and the safety of the robot is further ensured.
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Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:
FIG. 1 illustrates a diagram of an actual scene of a virtual wall design in accordance with an aspect of the present application;
fig. 2 is a schematic flow chart illustrating a method for generating a trapped-free path according to the present application;
fig. 3 is a visual diagram illustrating a method for adding a virtual exclusion zone in an actual application scenario according to an aspect of the present application.
The same or similar reference numbers in the drawings identify the same or similar elements.
Detailed Description
The present application is described in further detail below with reference to the attached figures.
In a typical configuration of the present application, the terminal, the device serving the network, and the trusted party each include one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include non-transitory computer readable media (transient media), such as modulated data signals and carrier waves.
As shown in fig. 2, an aspect of the present application provides a flow chart diagram of a method for generating a trapped-free path, where the method includes step S11, step S12, step S13, and step S14, and specifically includes the following steps:
step S11, respectively constructing cost maps for at least one virtual forbidden zone in a grid form, where each virtual forbidden zone includes a core zone and an escape zone, as shown in fig. 3, a blank part in fig. 3 is the escape zone, and a slash shadow part is the core zone; the cost value of the core area in the cost map corresponding to each virtual forbidden area is higher than that of the escape area, the cost value of the core area is kept unchanged, and the cost value of the escape area is gradually decreased from one side close to the core area.
It should be noted that the gradual decrease mode of the cost value of the escape area may be gradually decreased according to a preset decreasing value, may also be gradually decreased according to a preset decreasing proportion, and may also be gradually decreased randomly, so that the cost values of the escape area and the core area of the virtual forbidden area form a decreasing gradient difference, so that the robot may subsequently search for a target escape route according to the difference of the cost values of each grid, thereby breaking through the technical bottleneck in the prior art.
In a preferred embodiment of the present application, the cost value range of the entire virtual forbidden zone is 0-255, the cost value of the core zone may be preferably 255, for example, the cost value of the core zone of the virtual forbidden zone is 255, if the cost value of the escape zone is gradually decreased according to a preset decreasing value, the preset decreasing value may be preferably 10, the cost value of the first grid of the escape zone close to the side of the core zone is 245, and the cost value of the second grid is 235, … …, so as to recur until the last grid of the escape zone, that is, one side of the escape zone is a safety zone. If the cost value of the escape area is gradually decreased according to a preset decreasing proportion, at this time, the decreasing proportion is selected to be 5%, the cost value of the first grid on the side of the escape area close to the core area is 242.25, the cost value of the second grid is 254.36, … …, and the process is recurred until the last grid, that is, one side of the escape area is a safe area. If the cost value of the escape area is randomly and gradually decreased, recursive calculation is not needed at this time, the cost value of the first grid on the side of the escape area close to the core area is 200, the cost value of the second grid is 190, the cost value of the third grid is 150, and the cost value of the fourth grid is 149, … …, until the last grid, that is, the side of the escape area is the safety area, so that the gradually decreasing setting of the cost values of all grids in the escape area is realized.
In an actual application scenario, step S12, the current position of the robot is obtained.
And step S13, matching a target virtual forbidden zone where the robot is located and the grid position of the robot in the target virtual forbidden zone based on the current position of the robot.
In step S13, if it is determined that the robot is in the safe area according to the positioning, it is not necessary to plan a target escape route, and the position of the virtual restricted area is effectively avoided; if the core area or the escape area of the robot in the virtual forbidden zone is judged according to the positioning, a path is further planned according to the real-time position of the robot, for example, in a field operation environment, a virtual forbidden zone 1 and a virtual forbidden zone 2 exist, a robot A and a robot B are in operation, if the robot A and the robot B walk forwards together, the robot A carelessly falls into the virtual forbidden zone 1, and at the moment, the robot A obtains the current position, and the robot A changes a forward walking path and starts to re-plan the path to automatically escape from the virtual restricted area according to the real-time positioning judgment, so that the target virtual restricted area where the robot is located and the grid position in the virtual restricted area can be analyzed and obtained at the highest speed according to the real-time current position of the robot, and corresponding escaping measures can be taken as soon as possible in the following process.
Step S14, generating a target escaping path of the robot based on the cost map corresponding to the target virtual forbidden zone and the grid position of the robot in the target virtual forbidden zone.
Through the steps S11 to S14, the robot can be automatically trapped by combining the created cost map corresponding to the target virtual restricted area and the current position of the robot after falling into the virtual restricted area, so that the robot does not need to be watched manually in the operation process, meanwhile, the robot is effectively prevented from collision and other events, the safety of the robot is ensured, and the application of the robot is more humanized.
In a preferred embodiment of the present application, there are a virtual forbidden zone 1 and a virtual forbidden zone 2, where the cost values of the core zone are all a constant value of 255, and the escape zone of the virtual forbidden zone 1 is according to a preset low value: 10, gradually decreasing, and constructing a cost map according to a random gradually decreasing, preferably grid map method, escape areas of the virtual forbidden area 2; at the moment, the robot A and the robot B operate normally, if the robot A accidentally falls into the virtual forbidden zone 2, the robot A acquires the current position, judges the Mth grid in the virtual forbidden zone 2 according to real-time positioning, analyzes a cost map, and plans out a target escaping path by utilizing the gradient difference formed by the cost values of all grids in the virtual forbidden zone 2, so that the robot A can leave out the virtual forbidden zone 2 by planning out the target escaping path.
Following the above embodiment of the present application, the method further includes: and creating at least one virtual forbidden zone and an interface to which the virtual forbidden zone belongs.
Here, creating a virtual exclusion zone requires acquiring a data structure of this virtual exclusion zone. The data structure of the virtual exclusion zone includes: an forbidden zone ID (Identity document), a starting point, an end point, a length, a width, an escape zone position and an escape zone size, it should be noted that the forbidden zone ID can uniquely determine a virtual forbidden zone corresponding to the forbidden zone ID; the escape area positions may be set inward, outward, and rightward. The interface of the virtual exclusion zone comprises: the method comprises the steps of adding an interface, deleting the interface and emptying the interface, wherein the deleted interface and the emptied interface uniquely determine the virtual forbidden zone needing to be operated based on the forbidden zone ID of the virtual forbidden zone, the corresponding virtual forbidden zone can be set according to requirements, modification of the virtual forbidden zone is realized by utilizing a calling interface, the practicability of the virtual forbidden zone is improved, and the experience of a user is enhanced.
For example, in a preferred embodiment of the present application, according to field deployment, a virtual forbidden zone 1 is required to be created at a step, and according to a deployment scenario, a data structure of the virtual forbidden zone 1 is input: forbidden zone ID: 1, starting point: (0, 0), a terminal point (100 ), a length of 100 meters, a width of 10 meters, an escape area arranged outwards, and a size of the escape area of 5 meters, so that a virtual forbidden zone 1 meeting the requirements can be set. In the subsequent application scene, if the scene is changed, the virtual forbidden zone at the step disappears, that is, the virtual forbidden zone 1 does not need to be set at the step, based on the forbidden zone ID of the deleted virtual forbidden zone being 1, the deleting interface is called, and the virtual forbidden zone is deleted, so that the purpose of changing the scene is achieved.
Next, in the above embodiment of the present application, at least one virtual forbidden zone and an interface to which the virtual forbidden zone belongs are created, where the method further includes: updating the at least one virtual exclusion zone, wherein updating the exclusion zone comprises: adding, deleting forbidden zones and modifying.
In a preferred embodiment of the present application, a virtual forbidden zone 1, a virtual forbidden zone 2, a virtual forbidden zone 3, an add interface, a delete interface, and a change interface exist in an existing scene, and three virtual forbidden zones are updated according to a scene deployment requirement: adding a virtual forbidden zone 4, deleting the virtual forbidden zone 1 and the virtual forbidden zone 2, and changing the virtual forbidden zone 3 to enlarge the width of the virtual forbidden zone 3 by 0.2 m. When the virtual forbidden zone 4 is added, a data structure of the virtual forbidden zone 4 to be created is input by depending on an adding interface: forbidden zone ID: 4, starting point: (-100,0), a terminal (-100,100), a length of 100 m, a width of 10 m, an escape area arranged rightwards, and an escape area with a size of 5 m, so that a virtual forbidden zone 4 meeting the requirements can be created; when the virtual forbidden zone 1 and the virtual forbidden zone 2 are deleted, two virtual forbidden zones meeting the conditions are uniquely determined and deleted depending on a deletion interface based on the forbidden zone ID2 of the virtual forbidden zone and the forbidden zone ID4 of the virtual forbidden zone; when the virtual forbidden zone 3 is changed, the virtual forbidden zone meeting the conditions is uniquely determined by depending on the current forbidden zone interface and the forbidden zone ID3 of the virtual machine, at the moment, the width of the virtual forbidden zone 3 is increased by 0.2 m to obtain the virtual forbidden zone 3 meeting the updating requirements, the interface is utilized to greatly facilitate the change of the virtual forbidden zone, the whole technical scheme is optimized, the use range of the virtual forbidden zone is enlarged, and the whole technical scheme is sublimated.
Next, in the foregoing embodiment of the present application, the generating a target escaping path of the robot based on the cost map corresponding to the target virtual exclusion zone and the grid position of the robot in the target virtual exclusion zone specifically includes:
planning at least one escaping path for the robot based on a cost map corresponding to the target virtual forbidden zone and the grid position of the robot in the target virtual forbidden zone, wherein the trend of each escaping path is from large to small in cost value;
and determining a target escaping path of the robot from the at least one escaping path.
After the robot falls into the virtual restricted area, based on the cost map and the grid position of the virtual restricted area to which the robot belongs, a trapped-free path is planned according to the gradient difference of the cost value between grids in the target virtual restricted area in which the robot is located, wherein the planned trapped-free path is mainly obtained according to the trend that the cost value between the grids is from large to small, so that at least one trapped-free path is finally obtained, the gradient difference generated by the cost value of each grid in the cost map is reasonably utilized, and the robot is automatically trapped free.
For example, in a preferred embodiment of the present application, there are a virtual forbidden area 1 and a virtual forbidden area 2, and a robot a and a robot B operate normally, if an unsafe event occurs in the robot a and falls into the virtual forbidden area 2, at this time, the robot a obtains its current position, and at this time, according to the distribution of cost values of the virtual forbidden area 2 in a cost map, according to a trend of the cost values from large to small, a stranded-out path L1, a stranded-out path L2, stranded-out paths L3 and … …, a stranded-out path L (N-1), and a stranded-out path L (N) stranded-out paths L (N) are planned, where N is a positive integer greater than or equal to 1; then, a target escape route serving as the robot is screened from the planned escape routes L1, L2, L3, … …, L (N-1) and L (N), for example, if the screened target escape route is: and (4) the robot can automatically get rid of the trouble from the target virtual forbidden zone according to the trend of the route of the getting rid of trouble path 8.
Next, in the above embodiment of the present application, the determining a target escaping route of the robot from the at least one escaping route specifically includes:
screening out an optimal escaping path from the at least one escaping path; and determining the optimal escaping path as a target escaping path of the robot.
It should be noted that, the optimal escaping route can select the escaping route with the shortest route from the escaping routes as the optimal escaping route, can also select the escaping route with the lowest energy consumption from the escaping routes as the optimal escaping route, can also select the escaping route with the lowest time from the escaping routes as the optimal escaping route, and the like.
For example, in the scene of a robot match, the robot a falls into the virtual forbidden zone 1, and according to the cost map and the cost values of each grid, the planned escape route is: selecting one of the escaping paths L1, L2, L3, … …, L (N-1) and L (N) as the target escaping path of the robot, in this case, considering that the duration is the largest influence factor, if the escaping route L3 is the shortest escaping route in use among the escaping routes L1, L2, L3, … …, L (N-1) and L (N), the optimal escaping route L3 with the shortest duration is determined as the target escaping route of the robot a, so that the robot autonomously prefers the escaping route L3 with the shortest time among the escaping routes as the optimal escaping route, namely, the escaping path L3 is selected as the target escaping path of the robot A, so that the robot can be held in full force in the robot competition, and the robot is more superior, and the escaping requirements of the robot under different application scenes are met.
According to another aspect of the present application, there is also provided a non-volatile storage medium having computer readable instructions stored thereon, which, when executed by a processor, cause the processor to implement a method of trapped path generation as described above.
According to another aspect of the present application, there is also provided an apparatus of a method for generating a trapped-free path, where the apparatus includes:
one or more processors;
a computer-readable medium for storing one or more computer-readable instructions,
when executed by the one or more processors, cause the one or more processors to implement a method of creating a trapped path for a device as described above.
For details of each embodiment of the device for generating a trapped path, reference may be specifically made to corresponding parts of the embodiment of the device for generating a trapped path, and details are not described here again.
In summary, the cost map is respectively constructed for at least one virtual restricted area in a grid form, and each virtual restricted area comprises a core area and an escape area; the cost value of the core area in the cost map corresponding to each virtual forbidden area is higher than that of the escape area, the cost value of the core area is kept unchanged, and the cost value of the escape area is gradually decreased from one side close to the core area; acquiring the current position of the robot; matching a target virtual forbidden zone where the robot is located and a grid position of the robot in the target virtual forbidden zone based on the current position of the robot; and generating a target escaping path of the robot based on the cost map corresponding to the target virtual forbidden zone and the grid position of the robot in the target virtual forbidden zone, so that the robot can escape autonomously through the searched target escaping path when the robot carelessly falls into the virtual forbidden zone in the operation process, the whole process does not need manual guard, meanwhile, unsafe events such as collision, falling and the like caused by the robot in special scenes are effectively prevented, and the safety of the robot is further ensured.
It should be noted that the present application may be implemented in software and/or a combination of software and hardware, for example, implemented using Application Specific Integrated Circuits (ASICs), general purpose computers or any other similar hardware devices. In one embodiment, the software programs of the present application may be executed by a processor to implement the steps or functions described above. Likewise, the software programs (including associated data structures) of the present application may be stored in a computer readable recording medium, such as RAM memory, magnetic or optical drive or diskette and the like. Additionally, some of the steps or functions of the present application may be implemented in hardware, for example, as circuitry that cooperates with the processor to perform various steps or functions.
In addition, some of the present application may be implemented as a computer program product, such as computer program instructions, which when executed by a computer, may invoke or provide methods and/or techniques in accordance with the present application through the operation of the computer. Program instructions which invoke the methods of the present application may be stored on a fixed or removable recording medium and/or transmitted via a data stream on a broadcast or other signal-bearing medium and/or stored within a working memory of a computer device operating in accordance with the program instructions. An embodiment according to the present application comprises an apparatus comprising a memory for storing computer program instructions and a processor for executing the program instructions, wherein the computer program instructions, when executed by the processor, trigger the apparatus to perform a method and/or a solution according to the aforementioned embodiments of the present application.
It will be evident to those skilled in the art that the present application is not limited to the details of the foregoing illustrative embodiments, and that the present application may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned. Furthermore, it is obvious that the word "comprising" does not exclude other elements or steps, and the singular does not exclude the plural. A plurality of units or means recited in the apparatus claims may also be implemented by one unit or means in software or hardware. The terms first, second, etc. are used to denote names, but not any particular order.
Claims (7)
1. A method for generating a trapped path, wherein the method comprises:
respectively constructing cost maps for at least one virtual forbidden zone in a grid form, wherein each virtual forbidden zone comprises a core zone and an escape zone; the cost value of the core area in the cost map corresponding to each virtual forbidden area is higher than that of the escape area, the cost value of the core area is kept unchanged, and the cost value of the escape area is gradually decreased from one side close to the core area;
acquiring the current position of the robot;
matching a target virtual forbidden zone where the robot is located and a grid position of the robot in the target virtual forbidden zone based on the current position of the robot;
and generating a target escaping path of the robot based on a cost map corresponding to the target virtual forbidden zone and the grid position of the robot in the target virtual forbidden zone.
2. The method of claim 1, wherein the method further comprises:
and creating at least one virtual forbidden zone and an interface to which the virtual forbidden zone belongs.
3. The method of claim 2, wherein the method further comprises:
and updating the at least one virtual forbidden zone.
4. The method of claim 1, wherein the generating a target escape route for the robot based on a cost map corresponding to the target virtual exclusion zone and a grid position of the robot within the target virtual exclusion zone comprises:
planning at least one escaping path for the robot based on a cost map corresponding to the target virtual forbidden zone and the grid position of the robot in the target virtual forbidden zone, wherein the trend of each escaping path is from large to small in cost value;
and determining a target escaping path of the robot from the at least one escaping path.
5. The method of claim 4, wherein the determining a target escape route for the robot from the at least one escape route comprises:
screening out an optimal escaping path from the at least one escaping path;
and determining the optimal escaping path as a target escaping path of the robot.
6. A non-transitory storage medium having stored thereon computer readable instructions which, when executed by a processor, cause the processor to implement the method of any one of claims 1 to 5.
7. A virtual forbidden zone construction method and equipment are provided, wherein the equipment comprises:
one or more processors;
a computer-readable medium for storing one or more computer-readable instructions,
when executed by the one or more processors, cause the one or more processors to implement the method of any one of claims 1-5.
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