CN108241369B - Method and device for avoiding static obstacle for robot - Google Patents
Method and device for avoiding static obstacle for robot Download PDFInfo
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- CN108241369B CN108241369B CN201711384817.3A CN201711384817A CN108241369B CN 108241369 B CN108241369 B CN 108241369B CN 201711384817 A CN201711384817 A CN 201711384817A CN 108241369 B CN108241369 B CN 108241369B
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- 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
Abstract
The application discloses a method and a device for avoiding static obstacles by a robot. The method comprises the following steps: acquiring a static global map of an area needing obstacle avoidance; gridding the static global map to obtain a static grid map, and determining an obstacle region in the static grid map; determining obstacle cost values o _ cost of grid points in the reachable area according to the obstacle areas; taking grid points corresponding to the starting position of the robot in the static grid map as path points 0 in an obstacle avoidance path; determining the comprehensive cost value of each adjacent grid point of the path point 0; determining an adjacent grid point as a path point 1 in the obstacle avoidance path according to the comprehensive cost value of each adjacent grid point; sequentially iterating until the obtained path point N is the target point; and connecting the path point 0 to the path point N in sequence to obtain the complete obstacle avoidance path. The technical effect of rapidly and accurately planning the static path is achieved.
Description
Technical Field
The application relates to the technical field of robots, in particular to a method and a device for avoiding static obstacles for a robot.
Background
Obstacle avoidance, i.e. path planning, of automated mobile robots is one of the core problems in the field of robots, which can be sealed as a static obstacle avoidance (static path planning) and a dynamic obstacle avoidance (dynamic path planning) depending on the known extent of the robot to the spatial environment. For the problem of obstacle avoidance, the mainstream algorithm includes: potential field method, grid method and particle swarm method.
Taking the traditional artificial potential field method as an example, the method adopts a vector synthesis-based method, and plans the motion path of the robot through an intuitive rule, namely under the action of the resultant force of repulsive force from an obstacle and attractive force from a target point. In the case of only local information, the obstacle avoidance strategy is very effective. However, since the moving speed and direction of the robot depend on the magnitude and direction of the force vector sum, when the resultant force is zero, the robot cannot move, and thus the robot falls into the dilemma of local minimum points.
For the particle swarm algorithm, in the initial stage, the traveling paths of the particles are dispersed, the convergence speed of the paths is low, and the path planning efficiency is influenced. Thus, each algorithm has limitations in terms of its method.
Aiming at the problem that various algorithms in the related art have large limitations, an effective solution is not provided at present.
Disclosure of Invention
The present application mainly aims to provide a method and an apparatus for a robot to avoid a static obstacle, so as to solve the problem that an algorithm in the related art cannot perfectly solve the static obstacle avoidance of the robot.
In order to achieve the above object, according to one aspect of the present application, there is provided a method of a robot avoiding a static obstacle.
The method for avoiding static obstacles by the robot comprises the following steps:
acquiring a static global map of an area needing obstacle avoidance;
gridding the static global map to obtain a static grid map, and determining an obstacle region in the static grid map;
determining obstacle cost values o _ cost of grid points in a reachable area according to the obstacle areas, wherein the reachable area is an area outside the obstacle areas in the static grid map, and the obstacle cost values represent distances between the grid points in the reachable area and the nearest obstacle areas;
taking grid points corresponding to the starting position of the robot in the static grid map as path points 0 in an obstacle avoidance path;
determining the comprehensive cost value of each adjacent grid point of the path point 0; the comprehensive cost value is obtained according to the cost value m _ cost of the adjacent point, the distance cost value dest _ cost and the obstacle cost value o _ cost; the neighboring point cost value characterizes a distance between the neighboring grid point and the path point 0; the distance cost value represents the distance from each adjacent grid point to a target point;
determining an adjacent grid point as a path point 1 in the obstacle avoidance path according to the comprehensive cost value of each adjacent grid point; sequentially iterating until the obtained path point N is the target point;
and connecting the path point 0 to the path point N in sequence to obtain the complete obstacle avoidance path.
Further, according to the foregoing method for avoiding a static obstacle, the obtaining of the comprehensive cost value according to the neighboring point cost value m _ cost, the distance cost value dest _ cost, and the obstacle cost value o _ cost includes: the composite cost value is derived by:
a*o_cost+b*m_cost+c*dest_cost；
wherein abc is greater than 0 and a + b + c is 1.
Further, the method for avoiding static obstacles by a robot as described above, wherein the determining obstacle cost values of each grid point in the reachable area includes:
assigning an obstacle cost value of a grid point having a distance from the closest obstacle of less than or equal to the minimum action radius to 100;
obtaining the obstacle cost value o _ cost of a grid point having a distance to the nearest obstacle greater than the minimum action radius by:
o_cost＝99×e-(α×d(x,y))；
where α is the set attenuation coefficient, and d (x, y) is the difference between the distance from the coordinate grid point (x, y) to the nearest obstacle and the minimum radius of action.
Further, as for the method for the robot to avoid the static obstacle, the method for calculating the cost value m _ cost of the neighboring point is as follows:
m_cost＝p*d1(x,y)；
where p is a set coefficient, d1(x, y) is the distance between point (x, y) to its neighboring waypoint.
Further, as the method for the robot to avoid the static obstacle, the distance cost value dest _ cost is calculated by:
dest_cost＝q*d2(x,y)；
where q is a set coefficient and d (x, y) is the distance from point (x, y) to the target point.
In order to achieve the above object, according to another aspect of the present application, there is provided a device for a robot to evade a static obstacle.
The device for avoiding static obstacles for the robot comprises:
the static map acquisition unit is used for acquiring a static global map of an area needing obstacle avoidance;
the obstacle region determining unit is used for gridding the static global map to obtain a static grid map and determining an obstacle region in the static grid map;
an obstacle cost value determination unit, configured to determine, according to the obstacle region, an obstacle cost value o _ cost of each grid point in a reachable region, where the reachable region is a region other than the obstacle region in the static grid map, and the obstacle cost value represents a distance between each grid point in the reachable region and a closest obstacle region;
an originating path point determining unit, configured to use a grid point corresponding to an originating position of the robot in the static grid map as a path point 0 in an obstacle avoidance path;
a comprehensive cost value calculation unit, configured to determine a comprehensive cost value of each adjacent grid point of the path point 0; the comprehensive cost value is obtained according to the cost value m _ cost of the adjacent point, the distance cost value dest _ cost and the obstacle cost value o _ cost; the neighboring point cost value characterizes a distance between the neighboring grid point and the path point 0; the distance cost value represents the distance from each adjacent grid point to a target point;
a path point determining unit, configured to determine, according to the comprehensive cost value of each adjacent grid point, one adjacent grid point as a path point 1 in the obstacle avoidance path; sequentially iterating until the obtained path point N is the target point;
and the obstacle avoidance path obtaining unit is used for sequentially connecting the path point 0 to the path point N to obtain a complete obstacle avoidance path.
Further, in the device for avoiding static obstacle according to the above, the integrated cost value calculating unit may obtain the integrated cost value by the following equation:
a*o_cost+b*m_cost+c*dest_cost；
wherein abc is greater than 0 and a + b + c is 1.
Further, in the device for avoiding static obstacle for robot as described above, the comprehensive cost value calculating unit includes an obstacle cost value calculating unit configured to:
assigning an obstacle cost value of a grid point having a distance from the closest obstacle of less than or equal to the minimum action radius to 100;
obtaining the obstacle cost value o _ cost of a grid point having a distance to the nearest obstacle greater than the minimum action radius by:
o_cost＝99×e-(α×d(x,y))；
where α is the set attenuation coefficient, and d (x, y) is the difference between the distance from the coordinate grid point (x, y) to the nearest obstacle and the minimum radius of action.
Further, as for the above-mentioned device for avoiding static obstacle of the robot, the integrated cost value calculating unit further includes: a neighboring point cost value calculation module, configured to calculate and obtain a neighboring point cost value m _ cost:
m_cost＝p*d1(x,y)；
where p is a set coefficient, d1(x, y) is the distance between point (x, y) to its neighboring waypoint.
Further, as for the above-mentioned device for avoiding static obstacle of the robot, the integrated cost value calculating unit further includes: a distance cost value calculating module, configured to calculate and obtain the distance cost value dest _ cost:
dest_cost＝q*d2(x,y)；
where q is a set coefficient and d (x, y) is the distance from point (x, y) to the target point.
In the embodiment of the application, a mode of combining a potential field method and a grid method is adopted, and a static global map of an area needing obstacle avoidance is obtained; gridding the static global map to obtain a static grid map, and determining an obstacle region in the static grid map; determining obstacle cost values o _ cost of grid points in the reachable area according to the obstacle areas; taking grid points corresponding to the starting position of the robot in the static grid map as path points 0 in an obstacle avoidance path; determining the comprehensive cost value of each adjacent grid point of the path point 0; determining an adjacent grid point as a path point 1 in the obstacle avoidance path according to the comprehensive cost value of each adjacent grid point; sequentially iterating until the obtained path point N is the target point; and connecting the path point 0 to the path point N in sequence to obtain the complete obstacle avoidance path. The purpose of obtaining the static obstacle avoidance path is achieved, the technical effect of rapidly and accurately planning the path is achieved, and the technical problem that the static obstacle avoidance of the robot cannot be perfectly solved due to the algorithm in the related technology is solved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, serve to provide a further understanding of the application and to enable other features, objects, and advantages of the application to be more apparent. The drawings and their description illustrate the embodiments of the invention and do not limit it. In the drawings:
FIG. 1 is a schematic flow diagram of a method according to an embodiment of the present application; and
FIG. 2 is a block diagram of an apparatus according to an embodiment of the present application.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In this application, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings. These terms are used primarily to better describe the invention and its embodiments and are not intended to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.
Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meanings of these terms in the present invention can be understood by those skilled in the art as appropriate.
Furthermore, the terms "mounted," "disposed," "provided," "connected," and "sleeved" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; can be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements or components. The specific meanings of the above terms in the present invention can be understood by those of ordinary skill in the art according to specific situations.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
The present invention provides a method for a robot to avoid static obstacles, as shown in fig. 1, the method includes the following steps S1 to S7: the method comprises the following steps:
s1, acquiring a static global map of an area needing obstacle avoidance; preferably, the method further comprises the following steps: the static global map is meshed to obtain a static grid map, and the static global map is meshed to the static grid map with the grid size of 5cm by 5 cm;
s2, gridding the static global map to obtain a static grid map, and determining an obstacle region in the static grid map; specifically, the method comprises the following steps: the specific method comprises the following steps: continuously traversing barrier cost values of grid points in a range with the radius of d as a circle by taking the current position (x, y) of the robot as a circle center, increasing the radius d by one unit length to obtain a circle with the radius of d +1 when no grid point with the cost value of 100 exists, and traversing again, wherein d is the minimum distance between the current position (x, y) and a barrier when the grid barrier cost value in the detected circle is 100;
s3, determining obstacle cost values o _ cost of all grid points in a reachable area according to the obstacle area, wherein the reachable area is an area outside the obstacle area in the static grid map, and the obstacle cost values represent the distance between all grid points in the reachable area and the nearest obstacle area;
s4, taking grid points corresponding to the starting position of the robot in the static grid map as path points 0 in an obstacle avoidance path; if the robot occupies multi-grid points, taking grid points corresponding to a grid where the center of a circumscribed circle of the maximum cross section of the robot is located as the path points 0; meanwhile, setting a minimum action radius, wherein the minimum action radius is the radius of a circumscribed circle of the maximum cross section of the robot;
and calculating the obstacle cost value of each grid point in the reachable area according to the radius of the circumscribed circle of the mobile object and the distance from each grid point to the nearest obstacle.
S5, determining the comprehensive cost value of each adjacent grid point of the path point 0; the comprehensive cost value is obtained according to the cost value m _ cost of the adjacent point, the distance cost value dest _ cost and the obstacle cost value o _ cost; the neighboring point cost value characterizes a distance between the neighboring grid point and the path point 0; the distance cost value represents the distance from each adjacent grid point to a target point; as can be seen from the above, the grid of the present embodiment is preferably a square of 5cm by 5cm, and therefore, it is easy to know that each grid point has 8 adjacent grid points; in this step, only the comprehensive cost value of each of 8 adjacent grid points of the path point 0 needs to be calculated;
s6, determining an adjacent grid point as a path point 1 in the obstacle avoidance path according to the comprehensive cost value of each adjacent grid point; sequentially iterating until the obtained path point N is the target point; from the above steps, only one minimum grid point among 8 adjacent grid points is selected as the path point 1; then, calculating the comprehensive cost value of all the adjacent grid points of the path point 1, and selecting the adjacent grid point of the path point 1 with the minimum comprehensive cost value; sequentially iterating according to the method until the obtained path point N is the target point;
s7, sequentially connecting the path point 0 to the path point N to obtain a complete obstacle avoidance path; since the path points 0 to N are continuous points in the static grid map, the obstacle avoidance paths can be obtained by connecting the path points 0 to N in sequence.
By adopting the method, the technical effect of path planning is rapidly and accurately carried out, and the technical problem that the static obstacle avoidance of the robot cannot be perfectly solved due to the algorithm in the related technology is further solved.
In some embodiments, the method for avoiding static obstacles by a robot as described above, wherein the step of deriving the composite cost value according to the neighboring point cost value m _ cost, the distance cost value dest _ cost, and the obstacle cost value o _ cost comprises: the composite cost value is derived by:
a*o_cost+b*m_cost+c*dest_cost；
wherein abc is greater than 0 and a + b + c is 1.
In some embodiments, the method for avoiding static obstacles by a robot as described above, the determining obstacle cost values of each grid point in the reachable area includes:
assigning an obstacle cost value of a grid point having a distance from the closest obstacle of less than or equal to the minimum action radius to 100;
obtaining the obstacle cost value o _ cost of a grid point having a distance to the nearest obstacle greater than the minimum action radius by:
o_cost＝99×e-(α×d(x,y))；
where α is the set attenuation coefficient, and d (x, y) is the difference between the distance from the coordinate grid point (x, y) to the nearest obstacle and the minimum radius of action.
In some embodiments, as the method for avoiding static obstacles by the robot, the calculation method of the cost value m _ cost of the neighboring point is as follows:
m_cost＝p*d1(x,y)；
where p is a set coefficient, d1(x, y) is the distance between point (x, y) to its neighboring waypoint.
In some embodiments, as the method for avoiding static obstacles by the robot described above, the distance cost value dest _ cost is calculated by:
dest_cost＝q*d2(x,y)；
where q is a set coefficient and d (x, y) is the distance from point (x, y) to the target point.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order different than presented herein.
In order to achieve the above object, according to another aspect of the present application, as shown in fig. 2, there is provided a device for a robot to avoid a static obstacle.
The device for avoiding static obstacles for the robot comprises:
the static map acquiring unit 1 is used for acquiring a static global map of an area needing obstacle avoidance;
the obstacle region determining unit 2 is used for gridding the static global map to obtain a static grid map and determining an obstacle region in the static grid map;
an obstacle cost value determination unit 3, configured to determine an obstacle cost value o _ cost of each grid point in a reachable area according to the obstacle area, where the reachable area is an area other than the obstacle area in the static grid map, and the obstacle cost value represents a distance between each grid point in the reachable area and a closest obstacle area;
an originating path point determining unit 4, configured to use a grid point corresponding to the originating position of the robot in the static grid map as a path point 0 in the obstacle avoidance path;
a comprehensive cost value calculating unit 5, configured to determine a comprehensive cost value of each adjacent grid point of the path point 0; the comprehensive cost value is obtained according to the cost value m _ cost of the adjacent point, the distance cost value dest _ cost and the obstacle cost value o _ cost; the neighboring point cost value characterizes a distance between the neighboring grid point and the path point 0; the distance cost value represents the distance from each adjacent grid point to a target point;
a path point determining unit 6, configured to determine, according to the comprehensive cost value of each adjacent grid point, one adjacent grid point as a path point 1 in the obstacle avoidance path; sequentially iterating until the obtained path point N is the target point;
and the obstacle avoidance path obtaining unit 7 is configured to sequentially connect the path point 0 to the path point N to obtain a complete obstacle avoidance path.
Specifically, the specific process of each module in this embodiment for implementing the function thereof may refer to the related description in the method embodiment shown in fig. 1, and is not described herein again.
In some embodiments, the device for avoiding static obstacles for a robot as described above, the integrated cost value calculating unit derives the integrated cost value by:
a*o_cost+b*m_cost+c*dest_cost；
wherein abc is greater than 0 and a + b + c is 1.
In some embodiments, the robot avoiding static obstacle avoiding device as described above, the integrated cost value calculating unit includes an obstacle cost value calculating unit configured to:
assigning an obstacle cost value of a grid point having a distance from the closest obstacle of less than or equal to the minimum action radius to 100;
obtaining the obstacle cost value o _ cost of a grid point having a distance to the nearest obstacle greater than the minimum action radius by:
o_cost＝99×e-(α×d(x,y))；
where α is the set attenuation coefficient, and d (x, y) is the difference between the distance from the coordinate grid point (x, y) to the nearest obstacle and the minimum radius of action.
In some embodiments, the robot avoiding static obstacle device as described above, the integrated cost value calculating unit further includes: a neighboring point cost value calculation module, configured to calculate and obtain a neighboring point cost value m _ cost:
m_cost＝p*d1(x,y)；
where p is a set coefficient, d1(x, y) is the distance between point (x, y) to its neighboring waypoint.
In some embodiments, the robot avoiding static obstacle device as described above, the integrated cost value calculating unit further includes: a distance cost value calculation module, configured to calculate and obtain the distance cost value dest _ cost:
dest_cost＝q*d2(x,y)；
where q is a set coefficient and d (x, y) is the distance from point (x, y) to the target point.
It will be apparent to those skilled in the art that the modules or steps of the present invention described above may be implemented by a general purpose computing device, they may be centralized on a single computing device or distributed across a network of multiple computing devices, and they may alternatively be implemented by program code executable by a computing device, such that they may be stored in a storage device and executed by a computing device, or fabricated separately as individual integrated circuit modules, or fabricated as a single integrated circuit module from multiple modules or steps. Thus, the present invention is not limited to any specific combination of hardware and software.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (2)
1. A method of a robot for evading a static obstacle, comprising:
acquiring a static global map of an area needing obstacle avoidance;
gridding the static global map to obtain a static grid map, and determining an obstacle region in the static grid map;
determining obstacle cost values o _ cost of grid points in a reachable area according to the obstacle areas, wherein the reachable area is an area outside the obstacle areas in the static grid map, and the obstacle cost values represent distances between the grid points in the reachable area and the nearest obstacle areas;
taking grid points corresponding to the starting position of the robot in the static grid map as path points 0 in an obstacle avoidance path;
determining the comprehensive cost value of each adjacent grid point of the path point 0; the comprehensive cost value is obtained according to the cost value m _ cost of the adjacent point, the distance cost value dest _ cost and the obstacle cost value o _ cost; the neighboring point cost value characterizes a distance between the neighboring grid point and the path point 0; the distance cost value represents the distance from each adjacent grid point to a target point;
determining an adjacent grid point as a path point 1 in the obstacle avoidance path according to the comprehensive cost value of each adjacent grid point; sequentially iterating until the obtained path point N is the target point;
sequentially connecting the path point 0 to the path point N to obtain a complete obstacle avoidance path;
the comprehensive cost value is obtained according to the neighbor point cost value m _ cost, the distance cost value dest _ cost and the obstacle cost value o _ cost, and comprises the following steps: the composite cost value is derived by:
a*o_cost+b*m_cost+c*dest_cost；
wherein a, b, c are all greater than 0, and a + b + c is 1;
the determining obstacle cost values of grid points in the reachable region includes:
assigning an obstacle cost value of a grid point having a distance from the closest obstacle of less than or equal to the minimum action radius to 100;
obtaining the obstacle cost value o _ cost of a grid point having a distance to the nearest obstacle greater than the minimum action radius by:
o_cost＝99×e-(α×d(x,y))；
wherein α is a set attenuation coefficient, d (x, y) is a difference between a distance from the coordinate grid point (x, y) to the nearest obstacle and the minimum action radius;
the calculation method of the adjacent point cost value m _ cost comprises the following steps:
m_cost＝p*d1(x,y)；
where p is a set coefficient, d1(x, y) is the distance between point (x, y) to its neighboring waypoint;
the calculation method of the distance cost value dest _ cost comprises the following steps:
dest_cost＝q*d2(x,y)；
where q is a set coefficient and d (x, y) is the distance from point (x, y) to the target point.
2. A device for a robot to evade static obstacles, comprising:
the static map acquisition unit is used for acquiring a static global map of an area needing obstacle avoidance;
the obstacle region determining unit is used for gridding the static global map to obtain a static grid map and determining an obstacle region in the static grid map;
an obstacle cost value determination unit, configured to determine, according to the obstacle region, an obstacle cost value o _ cost of each grid point in a reachable region, where the reachable region is a region other than the obstacle region in the static grid map, and the obstacle cost value represents a distance between each grid point in the reachable region and a closest obstacle region;
an originating path point determining unit, configured to use a grid point corresponding to an originating position of the robot in the static grid map as a path point 0 in an obstacle avoidance path;
a comprehensive cost value calculation unit, configured to determine a comprehensive cost value of each adjacent grid point of the path point 0; the comprehensive cost value is obtained according to the cost value m _ cost of the adjacent point, the distance cost value dest _ cost and the obstacle cost value o _ cost; the neighboring point cost value characterizes a distance between the neighboring grid point and the path point 0; the distance cost value represents the distance from each adjacent grid point to a target point;
a path point determining unit, configured to determine, according to the comprehensive cost value of each adjacent grid point, one adjacent grid point as a path point 1 in the obstacle avoidance path; sequentially iterating until the obtained path point N is the target point;
the obstacle avoidance path obtaining unit is used for sequentially connecting the path point 0 to the path point N to obtain a complete obstacle avoidance path;
the comprehensive cost value calculation unit derives the comprehensive cost value by the following formula:
a*o_cost+b*m_cost+c*dest_cost；
wherein a, b, c are all greater than 0, and a + b + c is 1;
the comprehensive cost value calculating unit comprises an obstacle cost value calculating unit, and is used for:
assigning an obstacle cost value of a grid point having a distance from the closest obstacle of less than or equal to the minimum action radius to 100;
obtaining the obstacle cost value o _ cost of a grid point having a distance to the nearest obstacle greater than the minimum action radius by:
o_cost＝99×e-(α×d(x,y))；
wherein α is a set attenuation coefficient, d (x, y) is a difference between a distance from the coordinate grid point (x, y) to the nearest obstacle and the minimum action radius;
the integrated cost value calculation unit further includes: a neighboring point cost value calculation module, configured to calculate and obtain a neighboring point cost value m _ cost:
m_cost＝p*d1(x,y)；
where p is a set coefficient, d1(x, y) is the distance between point (x, y) to its neighboring waypoint;
the integrated cost value calculation unit further includes: a distance cost value calculating module, configured to calculate and obtain the distance cost value dest _ cost:
dest_cost＝q*d2(x,y)；
where q is a set coefficient and d (x, y) is the distance from point (x, y) to the target point.
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| CN110788853B (en) * | 2018-08-01 | 2022-06-24 | 纳恩博（北京）科技有限公司 | Motion trajectory generation method, electronic device and computer-readable storage medium |
| CN111380532B (en) * | 2018-12-29 | 2022-06-28 | 深圳市优必选科技有限公司 | Path planning method, device, terminal and computer storage medium |
| CN110595482B (en) * | 2019-10-28 | 2020-11-13 | 深圳市银星智能科技股份有限公司 | Path planning method and device with obstacle avoidance weight and electronic equipment |
| CN113124849B (en) * | 2019-12-30 | 2023-11-14 | 广东博智林机器人有限公司 | Indoor path planning method and device, electronic equipment and storage medium |
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| CN112506203A (en) * | 2020-12-14 | 2021-03-16 | 深圳市普渡科技有限公司 | Robot motion dynamic feedback method and system |
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