CN109116858A - It is a kind of on specified path around barrier paths planning method and system - Google Patents
It is a kind of on specified path around barrier paths planning method and system Download PDFInfo
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- CN109116858A CN109116858A CN201811321625.2A CN201811321625A CN109116858A CN 109116858 A CN109116858 A CN 109116858A CN 201811321625 A CN201811321625 A CN 201811321625A CN 109116858 A CN109116858 A CN 109116858A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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 or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
Abstract
The present invention provides a kind of on specified path around barrier paths planning method and system, comprising: during advancing along specified path, obtains the grating map of ambient enviroment, and marks the barrier occupied information of each grid；When detect front environment have barrier, and judge the barrier influence oneself advance when, select the point an of P Passable as transient target point on the specified path at barrier rear；It is cut from grating map and specified path is more than the grid of the first pre-determined distance, unappropriated grid portion forms to obtain object space in the grating map after cutting；Several are cooked up in object space around barrier path, obtain the path candidate that the robot of the corresponding point from current point to transient target can travel around path is hindered according to every；Selection target is around barrier path from several path candidates.The present invention provides a kind of method that barrier is got around during advance, can avoid and pedestrian collision along specified path around barrier.
Description
Technical field
The present invention relates to robot path planning field, it is espespecially a kind of on specified path around barrier paths planning method and
System.
Background technique
In the actual environment, can be using the means of free path planning when robotic conveyance object, but this often makes
The track route of the passing unpredictable robot of staff, in and row opposite with robot, it is possible to take and robot
The identical direction in the path of planning is got around, to generate the case where mutually hindering, if relative velocity is too fast, is resulted even in and is touched
It hits.Using the method for specified path, it can make passing staff due to the track route of robot is known in advance around operating machine
People, if but have static-obstacle thing on specified path, a such as fixed object, robot can be blocked when advancing, and be led
Cause can not continue to walk along former specified path, it is necessary to bypass, need to generate the path of a cut-through object, Robot at this time
It should be eventually returned to move on former specified path around the walking of barrier path.If using the planning of free path Planning instrument around barrier road
Diameter still can generate the risk bumped against with pedestrian.
Summary of the invention
The object of the present invention is to provide a kind of on specified path around barrier paths planning method and system, can be along specified
Path cut-through object reduces the risk bumped against with pedestrian.
Technical solution provided by the invention is as follows:
It is a kind of on specified path around barrier paths planning method, comprising: during advancing along specified path, obtain
The grating map of ambient enviroment, and mark the barrier occupied information of each grid；When detect front environment have barrier, and
When judging that the barrier influences oneself advance, the point an of P Passable is selected to make on the specified path at the barrier rear
For transient target point；It is cut from the grating map and the specified path is more than the grid of the first pre-determined distance, cut
Unappropriated grid portion forms to obtain object space in the grating map afterwards；If being cooked up in the object space
Dry item is around barrier path, the time that can travel according to every around the robot that barrier path obtains the corresponding point from current point to transient target
Routing diameter；Selection target is around barrier path from several path candidates；Advance along the target around barrier path, reaches interim
Target point is completed around barrier.
In the above-mentioned technical solutions, it is no more than the model of the first pre-determined distance with specified path by being limited to object space
In enclosing, so that the target cooked up around barrier path is not deviated by specified path too far, collide to reduce with pedestrian
Probability.
It is further preferred that described cut from the grating map with the specified path is more than the first pre-determined distance
Grid, unappropriated grid portion forms to obtain object space in the grating map after cutting, further includes: from described
It is cut in grating map and the specified path is more than the grid of the first pre-determined distance, and cut with the barrier not pre-
If from the grid in barrier range；Unappropriated grid portion forms to obtain target empty in the grating map after cutting
Between.
In the above-mentioned technical solutions, by further reducing object space, the exploration time around barrier path is shortened, simultaneously
Also further make the target cooked up around barrier path as far as possible along specified path, only preset at a distance from barrier when robot
It is just walked along around barrier path when from barrier range, This further reduces the risks that robot bumps against when around barrier with pedestrian.
It is further preferred that described cook up several around barrier path, according to every around barrier in the object space
Path obtains the path candidate that the robot of the corresponding point from current point to transient target can travel, wherein every path candidate
Planning include: to generate a random point according to the big rule of probability of happening on the right side of reference straight line in the object space；Institute
Stating with reference to straight line is the straight line by current point and transient target point；It is found on random tree nearest apart from the random point
Tree node；The root node of the random tree is starting point, and the starting point is nearest with the current point in the object space
Grid；The tree node is grown towards the direction of the random point, is grown using robot kinematics' modeling several
Track selects legal track from the growth track, and the rail nearest apart from the random point is selected from the legal track
Newly-increased node of the mark terminal as the random tree, and the newly-increased node is the child node of the tree node, the tree node
For the father node of the newly-increased node；When the distance of the newly-increased node and terminal is less than the second pre-determined distance, and it is described newly-increased
When node is grown successfully towards the terminal, then using the terminal as the child node of the newly-increased node；The terminal is institute
State grid nearest with the transient target point in object space；From the terminal through the father node on the random tree to described
It is one around path is hindered that starting point, which is formed by path, the starting point around barrier path is connected with the current point, and described
Terminal around barrier path is connected with the transient target point, forms a path candidate.
It is further preferred that described utilize several growth tracks of robot kinematics' modeling, from the growth rail
Legal track is selected in mark, selects the final on trajectory nearest apart from the random point as described random from the legal track
The newly-increased node of tree, specifically includes: carrying out equal interval sampling in the bound of robot speed, obtains several candidate speed；
Equal interval sampling is carried out in the bound of Schemes of Angular Velocity Estimation for Robots, obtains several candidate angular speed；To each candidate speed, wait
Speed of selecting the role is combined, and obtains several speed angular speed combinations；Based on the current kinetic parameters of the robot, by each speed
Angular speed combine analog preset time is spent, corresponding growth track is obtained；The current kinetic parameters include it is current towards, it is current
Speed, current angular velocity；Traverse all growth tracks, each point for giving up track be not be all located at it is in object space and
There are the growth tracks that curvature is more than the maximum curvature that robot can execute, and obtain legal track；From all legal tracks
In final on trajectory, newly-increased node of the nearest final on trajectory of selected distance random point as the random tree.
In the above-mentioned technical solutions, the habit that right side is detoured when the kinematics model based on robot and people walk is satisfied the need
Diameter planned, implementable convenient for the path finally cooked up, meet the detour of people habit, thus reduce during around barrier with
The risk that pedestrian is bumped against.
It is further preferred that the selection target from several path candidates includes: according to assessment around barrier path
Factor assesses every path candidate, and selects optimal path as target around barrier path according to assessment result；Wherein, institute
State the average curvature, and/or average curvature variation, and/or average direction, and/or average court that assessment factor includes path candidate
To variation, and/or the distance apart from barrier.
It assessment is carried out to every path candidate according to assessment factor specifically includes it is further preferred that described: for every
Path candidate, average curvature values are smaller, and average curvature score value is lower；And/or average curvature changing value is smaller, average song
It is lower that rate changes score value；And/or it is average towards to the right, it is average lower towards score value；And/or it is average smaller towards changing value
, it is average lower towards variation score value；And/or it is closer apart from barrier, it is lower apart from barrier score value；To average curvature
Score value and/or average curvature change score value and/or are weighted summation averagely towards score value and/or apart from barrier score value, obtain
To the assessment result of every path candidate.
In the above-mentioned technical solutions, by selection detour the time it is short, more meet people detour habit path, to reduce
The risk bumped against during around barrier with pedestrian.
The present invention also provides a kind of on specified path around barrier path planning system, comprising: map obtains module, is used for
During advancing along specified path, the grating map of ambient enviroment is obtained, and the barrier of each grid is marked to occupy letter
Breath；Barrier judgment module detects that front environment has barrier for working as, and judges that the barrier influences oneself and advances
When, select the point an of P Passable as transient target point on the specified path at the barrier rear；Spatial reference module,
For cut from the grating map be more than with the specified path the first pre-determined distance grid, grid after cutting
Unappropriated grid portion forms to obtain object space in lattice map；Path planning module, in the object space
Several are cooked up around barrier path, obtaining the robot of the corresponding point from current point to transient target around barrier path according to every can
The path candidate of traveling；And from several path candidates selection target around barrier path；Around barrier module, for along institute
It states target to advance around barrier path, reaches transient target point, complete around barrier.
In the above-mentioned technical solutions, it is no more than the model of the first pre-determined distance with specified path by being limited to object space
In enclosing, so that the target cooked up around barrier path is not deviated by specified path too far, collide to reduce with pedestrian
Probability.
It is further preferred that the spatial reference module, is further used for cutting and the finger from the grating map
Determine the grid that path is more than the first pre-determined distance, and cuts and do not preset from the grid in barrier range with the barrier；?
Unappropriated grid portion forms to obtain object space in the grating map after cutting.
In the above-mentioned technical solutions, by further reducing object space, the exploration time around barrier path is shortened, simultaneously
Further make the target cooked up around barrier path as far as possible along specified path, only when robot at a distance from barrier preset from
It is just walked along around barrier path when in barrier range, further reduced the risk that robot bumps against when around barrier with pedestrian.
It is further preferred that the path planning module includes: path planning unit, it is used in the object space,
A random point is generated according to the big rule of probability of happening on the right side of reference straight line；The reference straight line is by current point and temporarily
The straight line of target point；And the tree node nearest apart from the random point is found on random tree；The root of the random tree
Node is starting point, and the starting point is grid nearest with the current point in the object space；And by the tree node court
The random point direction growth, using several growth tracks of robot kinematics' modeling, from the growth track
Middle selection legal track selects the final on trajectory nearest apart from the random point as the random tree from the legal track
Newly-increased node, and the newly-increased node be the tree node child node, the tree node be the newly-increased node father save
Point；And when the distance of the newly-increased node and terminal is less than the second pre-determined distance, and the newly-increased node is towards the terminal
When growing successfully, then using the terminal as the child node of the newly-increased node；The terminal in the object space with institute
State the nearest grid of transient target point；Path is formed by from the terminal through the father node on the random tree to the starting point
For one around barrier path, by it is described around barrier path starting point be connected with the current point, and it is described around barrier path terminal and
The transient target point is connected, and forms a path candidate.
In the above-mentioned technical solutions, the habit that right side is detoured when the kinematics model based on robot and people walk is satisfied the need
Diameter planned, implementable convenient for the path finally cooked up, meet the detour of people habit, thus reduce during around barrier with
The risk that pedestrian is bumped against.
It is further preferred that the path planning module further include: path evaluation unit is used for according to assessment factor to every
Path candidate is assessed, and selects optimal path as target around barrier path according to assessment result；Wherein, the assessment because
Average curvature, and/or average curvature variation, and/or average direction, and/or average direction variation of the element including path candidate,
And/or the distance apart from barrier.
In the above-mentioned technical solutions, short by the selection detour time, more meet the path of the detour habit of people, to reduce
The risk bumped against during around barrier with pedestrian.
There is provided through the invention it is a kind of on specified path around barrier paths planning method and system, provide a kind of exist
The method that barrier is got around during advancing can reduce the risk with pedestrian collision along specified path around barrier.
Detailed description of the invention
Below by clearly understandable mode, preferred embodiment is described with reference to the drawings, to a kind of on specified path
Above-mentioned characteristic, technical characteristic, advantage and its implementation around barrier paths planning method and system are further described.
Fig. 1 is a kind of flow chart of one embodiment around barrier paths planning method on specified path of the invention；
Fig. 2 is a kind of process of another embodiment around barrier paths planning method on specified path of the invention
Figure；
Fig. 3 is a kind of every time in another embodiment of barrier paths planning method on specified path of the invention
The flow chart of the planning of routing diameter；
Fig. 4 is a kind of process of another embodiment around barrier paths planning method on specified path of the invention
Figure；
Fig. 5 is a kind of process of another embodiment around barrier paths planning method on specified path of the invention
Figure；
Fig. 6 is a kind of every time in another embodiment of barrier paths planning method on specified path of the invention
The flow chart of the planning of routing diameter；
Fig. 7 is a kind of structural representation of one embodiment around barrier path planning system on specified path of the invention
Figure；
Fig. 8 is that a kind of structure of another embodiment around barrier path planning system on specified path of the invention is shown
It is intended to.
Drawing reference numeral explanation:
100. map obtains module, 200. barrier judgment modules, 300. spatial reference modules, 400. path planning moulds
Block, 500. around barrier module, 410. path planning units, 420. path evaluation units.
Specific embodiment
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, Detailed description of the invention will be compareed below
A specific embodiment of the invention.It should be evident that drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing, and obtain other embodiments.
To make simplified form, part related to the present invention is only schematically shown in each figure, they are not represented
Its practical structures as product.In addition, there is identical structure or function in some figures so that simplified form is easy to understand
Component only symbolically depicts one of those, or has only marked one of those.Herein, "one" is not only indicated
" only this ", can also indicate the situation of " more than one ".
In one embodiment of the invention, as shown in Figure 1, it is a kind of on specified path around barrier paths planning method,
Include:
Step S100 obtains the grating map of ambient enviroment during advancing along specified path, and marks each grid
The barrier occupied information of lattice.
Specifically, the grating map of ambient enviroment is the two-dimensional grid map centered on robot, robot is reflected
The overall situation of surrounding, each grid represent a subenvironment, such as one 6 meters * 6 meters of grating map, one of grid
It is 6 centimetres * 6 centimetres.There are two types of situations for the barrier occupied information of each grid: occupying and vacant.Occupancy means the grid
There are barrier, the vacant true environment position clear for meaning the grid and representing in the true environment position that lattice represent.Machine
Device people will be in the obstacle position information reflection to grating map of surrounding by self-sensor device.
Step S200 when detect front environment have barrier, and judge the barrier influence oneself advance when, in institute
It states and selects the point an of P Passable as transient target point on the specified path at barrier rear.
Specifically, the point of transient target point selection P Passable.P Passable refers to that the transient target point is empty plus front and back
Between (front and back space is rule of thumb arranged) robot should be able to be accommodated, and can support robot original place rotate；The transient target point adds
Grid locating for upper front and back space should not have barrier.
It is more than the grid of the first pre-determined distance that step S300, which is cut from the grating map with the specified path, is being cut out
Unappropriated grid portion forms to obtain object space in the grating map after cutting.
Specifically, unappropriated grid, refers to that the barrier occupied information of grid is unappropriated grid.Crop with
Specified path is more than the grid of the first pre-determined distance, all in the grating map after cutting remaining not occupied by barrier
Grid constitutes robot and carries out target around the exploration space of barrier path planning, i.e. object space.It is specified by cutting with described
Path is more than the grid of the first pre-determined distance, reduces object space, so as to shorten the time is explored, while also defining target around barrier
Path does not deviate by that specified path is too far, is no more than the first pre-determined distance with the offset maximum of specified path, this can reduce machine
The risk that device people is bumped against when around barrier with pedestrian.
Step S400 cooks up several around barrier path in the object space, is corresponded to according to every around barrier path
Slave current point to the robot of transient target point can travel path candidate.
Specifically, in the present embodiment, the current point of robot, transient target point are all in object space, every road Tiao Raozhang
The starting point of diameter is current point, and every terminal around barrier path is transient target point, so every is also from working as around barrier path simultaneously
Path candidate of the preceding point to transient target point.When planning is around barrier path in object space, it is contemplated that robot kinematics' limitation,
Such as minimum, the maximum speed limitation of robot, minimum, maximum angular rate limitation etc., so the path cooked up is robot
It is pratical and feasible to sail.
Step S500 from several path candidates selection target around barrier path.
Regular selection target is around barrier path there are many specifically, for example, it is directed to single hop path, it is preferential to select walking of keeping right
Path (walking habits for more meeting people), or the path that preferential selection curvature is small (path is more flat)；It is combined for multistage group
Diameter, the preferential path (path change is gentler) for selecting Curvature varying small or many factors combination consideration etc..
Step S600 advances along the target around barrier path, reaches transient target point, completes around barrier.
Specifically, when completing to reach transient target point around barrier, after returning to specified path, can along original specified path after
It is continuous to advance.The present embodiment makes to advise by being limited to object space with specified path no more than in the range of the first pre-determined distance
It is too far that the target marked around barrier path does not deviate by specified path, this can reduce robot and bump against when around barrier with pedestrian
Risk.
In another embodiment of the present invention, as shown in Figure 2 and Figure 3, it is a kind of on specified path around barrier path planning
Method, comprising:
Step S100 obtains the grating map of ambient enviroment during advancing along specified path, and marks each grid
The barrier occupied information of lattice.
Step S200 when detect front environment have barrier, and judge the barrier influence oneself advance when, in institute
It states and selects the point an of P Passable as transient target point on the specified path at barrier rear.
It is more than the grid of the first pre-determined distance that step S300, which is cut from the grating map with the specified path, is being cut out
Unappropriated grid portion forms to obtain object space in the grating map after cutting.
Step S400 cooks up several around barrier path in the object space, is corresponded to according to every around barrier path
Slave current point to the robot of transient target point can travel path candidate；
Wherein, the planning of every path candidate of step S410 includes:
Step S411 generates one at random in the object space, according to the big rule of probability of happening on the right side of reference straight line
Point；Described with reference to straight line is straight line by current point and transient target point；
Step S412 finds the tree node nearest apart from the random point on random tree；The root node of the random tree is
Starting point, the starting point are grid nearest with the current point in the object space；
Step S413 grows the tree node towards the direction of the random point, utilizes robot kinematics' modeling
Several growth tracks, select legal track from the growth track, and selection is apart from described random from the legal track
Newly-increased node of the nearest final on trajectory of point as the random tree, and the newly-increased node is the child node of the tree node,
The tree node is the father node of the newly-increased node；
Whether step S421 judges the distance of the newly-increased node and terminal less than the second pre-determined distance；The terminal is institute
State grid nearest with the transient target point in object space；
Step S422 is if so, the newly-increased node is grown towards the terminal, when the newly-increased node is towards the end
When point is grown successfully, then using the terminal as the child node of the newly-increased node；
It is one that step S423, which is formed by path through the father node on the random tree to the starting point from the terminal,
Around barrier path, the starting point around barrier path is connected with the current point, and the terminal around barrier path faces with described
When target point be connected, form a path candidate；
If it is not, then jumping to step S411.
Specifically, every around barrier path be when the kinematics model for considering robot and people walk on the right side of detour
Habit, obtains on the basis of the improvement to the random tree method of rapid discovery.
" generating a random point according to the big rule of probability of happening on the right side of reference straight line " is meant that random point generates
Probability on the right side of straight line is bigger, for example, a number is randomly generated in 0~1 space, reference is selected when the number is less than 0.2
Random point on the left of straight line, when the number is more than or equal to 0.2 selection with reference to the random point on the right side of straight line, in this way, can allow with
The probability that machine point generates on the right side of reference straight line is bigger.This is mainly based upon " people is accustomed to right side and detours ", so on path planning
Make the probability on path towards right side higher.
A random tree is built, the root node of random tree is starting point, which is the current point in object space with robot
Nearest grid.A node nearest with the random point, referred to as tree node are looked on random tree.
Based on robot kinematics' model, tree node is grown towards the direction of random point.The model considers robot
Kinematic parameter, such as direction, speed, angular speed etc. and robot movement limitation, such as maximum, the minimum value of speed,
Maximum, minimum value of angular speed etc..When tree node is grown towards the direction of random point, according to a variety of different speed, angle speed
Degree combination, simulation obtain several growth tracks, if there is growth track have passed through non-targeted area of space, then the track is
It is illegal；The starting point of all growth tracks is all tree node, but terminal is different, and is selected in legal track from random point
Newly-increased node of the nearest final on trajectory as random tree, this increases the child node that node is the tree node, while the tree node newly
Increase the father node of node newly for this.
Judge that whether this increases the distance of node and terminal newly less than the second pre-determined distance；The terminal be object space in
The nearest grid of transient target point.If the distance of the newly-increased node and terminal less than the second pre-determined distance, illustrates newly-increased node
It is close from terminal, allow at this time newly-increased node towards terminal grow, be also based on robot kinematics' model, according to it is various not
Speed together, angular speed combination, simulation obtain several growth tracks, pass through terminal if there is a legal track, then
Show that the newly-increased node is grown successfully towards terminal, increase the child node of node newly using terminal as this at this time, which is eventually
The father node of point.The root node (i.e. starting point) that the father node on random tree to random tree is begun stepping through from terminal, is formed by road
Diameter is one and the starting point around barrier path is connected with current point around barrier path, and is somebody's turn to do terminal and interim mesh around barrier path
Punctuate is connected, and just forms the path candidate of a point from current point to transient target.
If the distance of the newly-increased node and terminal is not less than the second pre-determined distance, illustrate to increase newly node from terminal also compared with
Far, need to repeat process above-mentioned at this time, choose random point and tree node again, attempt to grow to random point, explore again around
Hinder path and path candidate.
In the present embodiment, the current point of robot, transient target point are all in object space, so every around barrier path
Starting point is current point, and every terminal around barrier path is transient target point, has explored around barrier path, has also just obtained candidate road
Diameter.By the way that the planning of every path candidate is performed a plurality of times, to obtain several path candidates.
Step S510 assesses every path candidate according to assessment factor, and selects optimal path according to assessment result
As target around barrier path；Wherein, the assessment factor include path candidate average curvature, and/or average curvature variation,
And/or average direction, and/or average direction change, and/or the distance apart from barrier.
Specifically, assessment factor is accustomed to from the detour of people, detour time and detour convenience etc. consider, including path candidate
Average curvature, and/or average curvature variation, and/or it is average towards, and/or it is average towards variation, and/or apart from barrier
Distance, selection detour the time it is short, the path turned to the right is more preferably.
Step S600 advances along the target around barrier path, reaches transient target point, completes around barrier.
Specifically, the habit that right side is detoured when kinematics model and people of the present embodiment based on robot are walked, planning
The target of detour habit that robot can travel, meeting people is around barrier path.
In another embodiment of the present invention, as shown in Fig. 4, Fig. 3, it is a kind of on specified path around barrier path planning
Method, comprising:
On the basis of previous embodiment, step 300 is substituted with step S310, other steps are identical, so no longer
It repeats.
It is more than the grid of the first pre-determined distance that step S310, which is cut from the grating map with the specified path, and
It cuts and is not being preset from the grid in barrier range with the barrier；Unappropriated grid in the grating map after cutting
Lattice part forms to obtain object space.
Specifically, " not presetting from the grid in barrier range with the barrier " meaning refers to the grid and barrier side
The distance of edge is not being preset from barrier range, this part grid needs cropped.Example 1, preset from barrier range be no more than
5cm, then the grid at a distance from barrier edge being more than 5cm is not preset from the grid in barrier range, needs to be cut；Show
Example 2, preset from barrier range be no more than 5cm, and be not less than 2cm, then fallen between 2~5cm at a distance from barrier edge
Grid is qualified grid, other grids will be cut.Example 3, preset from barrier range be not less than 2cm, then with barrier edge
Distance needed less than the grid of 2cm it is cropped.
In the present embodiment, object space may not may also include comprising current point or transient target point, this depends on working as
Whether preceding point, transient target point are being preset from barrier range.If current point, transient target point not preset from barrier range in,
Then select with reference on straight line, grid nearest with current point in object space be starting point, selection refers on straight line, in object space
It is terminal with the nearest grid of transient target point.After acquisition origin-to-destination is around barrier path, by the starting point around barrier path
It is connected with current point, and should be connected around the terminal in barrier path with transient target point, just obtains a path candidate.
The present embodiment by by object space be limited to specified path be no more than the first pre-determined distance and with barrier
Distance is being preset from barrier range, and the target cooked up further is made, as far as possible along specified path, only to work as robot around barrier path
With at a distance from barrier presetting from barrier range in when just along around barrier path walk, further reduced robot around barrier when and mistake
Toward the risk of pedestrian collision.
In another embodiment of the present invention, as shown in Figure 5, Figure 6, it is a kind of on specified path around barrier path planning
Method, comprising:
Step S100 obtains the grating map of ambient enviroment during advancing along specified path, and marks each grid
The barrier occupied information of lattice.
Step S200 when detect front environment have barrier, and judge the barrier influence oneself advance when, in institute
It states and selects the point an of P Passable as transient target point on the specified path at barrier rear.
It is more than the grid of the first pre-determined distance that step S310, which is cut from the grating map with the specified path, and
It cuts and is not being preset from the grid in barrier range with the barrier；Unappropriated grid in the grating map after cutting
Lattice part forms to obtain object space.
Step S400 cooks up several around barrier path in the object space, is corresponded to according to every around barrier path
Slave current point to the robot of transient target point can travel path candidate；
Wherein, the planning of every path candidate of step S410 includes:
Step S411 generates one at random in the object space, according to the big rule of probability of happening on the right side of reference straight line
Point；Described with reference to straight line is straight line by current point and transient target point；
Step S412 finds the tree node nearest apart from the random point on random tree；The root node of the random tree is
Starting point, the starting point are grid nearest with the current point in the object space；
Step S414 carries out equal interval sampling in the bound of robot speed, obtains several candidate speed；In machine
Equal interval sampling is carried out in the bound of people's angular speed, obtains several candidate angular speed；
Step S415 is combined each candidate speed, candidate angular speed, obtains several speed angular speed combinations；
Current kinetic parameters of the step S416 based on the robot, when default by each speed angular speed combine analog
Between, obtain corresponding growth track；The current kinetic parameters include current direction, present speed, current angular velocity；
Step S417 traverses all growth tracks, each point for giving up track be not be all located at it is in object space and
There are the growth tracks that curvature is more than the maximum curvature that robot can execute, and obtain legal track；
Step S418 is from the final on trajectory of all legal tracks, and the nearest final on trajectory of selected distance random point is as institute
The newly-increased node of random tree is stated, and the newly-increased node is the child node of the tree node, the tree node is the newly-increased section
The father node of point；
Specifically, consider the speed of robot and the limitation of angular speed in the present embodiment, in the bound of speed into
Row equal interval sampling obtains several candidate speed；Equal interval sampling is carried out in the bound of angular speed, obtains several candidate angles
Speed.It when tree node is grown towards the direction of random point, is combined according to a variety of different speed, angular speed, if simulation obtains
Dry item grows track.If there is each point of growth track be not to be all located in object space, that is, have passed through non-targeted space
Region, then the track is illegal；If there is growth track there are part curvature be more than the maximum that can execute of robot
Curvature, then the track is illegal.Give up above-mentioned illegal track, from the final on trajectory of all legal tracks, chooses
Newly-increased node of the final on trajectory nearest from random point as random tree.
Whether step S421 judges the distance of the newly-increased node and terminal less than the second pre-determined distance；The terminal is institute
State grid nearest with the transient target point in object space；
Step S422 is if so, the newly-increased node is grown towards the terminal, when the newly-increased node is towards the end
When point is grown successfully, then using the terminal as the child node of the newly-increased node；
It is one that step S423, which is formed by path through the father node on the random tree to the starting point from the terminal,
Around barrier path, the starting point around barrier path is connected with the current point, and the terminal around barrier path faces with described
When target point be connected, form a path candidate；
If it is not, then jumping to step S411.
Step S511 is directed to every path candidate, and average curvature values are smaller, and average curvature score value is lower；And/or it is average
Curvature varying value is smaller, and it is lower that average curvature changes score value；And/or it is average towards to the right, it is average lower towards score value；
And/or it is average smaller towards changing value, it is average lower towards variation score value；And/or, distance barrier closer apart from barrier
Hinder object score value lower；To average curvature score value and/or average curvature variation score value and/or averagely towards score value and/or apart from barrier
Hinder object score value to be weighted summation, obtains the assessment result of every path candidate, and select optimal path to make according to assessment result
It is target around barrier path.
Specifically, to average curvature score value and/or average curvature variation score value and/or averagely towards score value and/or distance
Barrier score value is weighted summation, obtains the score value of every path candidate, and the path for selecting score value low is as optimal path, choosing
Optimal path is selected as target around barrier path.
Step S600 advances along the target around barrier path, reaches transient target point, completes around barrier.
Specifically, the present embodiment grows track to based on robot kinematics' modeling, and path candidate is commented
Estimate to a specific embodiment.
In one embodiment of the invention, as shown in fig. 7, it is a kind of on specified path around barrier path planning system,
Include:
Map obtains module 100, for obtaining the grating map of ambient enviroment during advancing along specified path,
And mark the barrier occupied information of each grid.
Specifically, the grating map of ambient enviroment is the two-dimensional grid map centered on robot, robot is reflected
The overall situation of surrounding, each grid represent a subenvironment, such as one 6 meters * 6 meters of grating map, one of grid
It is 6 centimetres * 6 centimetres.There are two types of situations for the barrier occupied information of each grid: occupying and vacant.Occupancy means the grid
There are barrier, the vacant true environment position clear for meaning the grid and representing in the true environment position that lattice represent.Machine
Device people will be in the obstacle position information reflection to grating map of surrounding by self-sensor device.
Barrier judgment module 200 detects that front environment has barrier for working as, and judges that the barrier influences certainly
When oneself advances, select the point an of P Passable as transient target point on the specified path at the barrier rear.
Specifically, the point of transient target point selection P Passable.P Passable refers to that the transient target point is empty plus front and back
Between (front and back space is rule of thumb arranged) robot should be able to be accommodated, and can support robot original place rotate；The transient target point adds
Grid locating for upper front and back space should not have barrier.
Spatial reference module 300, for from the grating map cut with the specified path be more than first preset away from
From grid, unappropriated grid portion forms to obtain object space in the grating map after cutting.
Specifically, unappropriated grid, refers to that the barrier occupied information of grid is unappropriated grid.Crop with
Specified path is more than the grid of the first pre-determined distance, all in the grating map after cutting remaining not occupied by barrier
Grid constitutes robot and carries out target around the exploration space of barrier path planning, i.e. object space.It is specified by cutting with described
Path is more than the grid of the first pre-determined distance, reduces object space, so as to shorten the time is explored, while also defining target around barrier
Path does not deviate by that specified path is too far, is no more than the first pre-determined distance with the offset maximum of specified path, this can reduce machine
The risk that device people is bumped against when around barrier with pedestrian.
Path planning module 400, for cooking up several in the object space around barrier path, according to every around barrier
Path obtains the path candidate that the robot of the corresponding point from current point to transient target can travel；And from described in several
Selection target is around barrier path in path candidate.
Specifically, in the present embodiment, the current point of robot, transient target point are all in object space, every road Tiao Raozhang
The starting point of diameter is current point, and every terminal around barrier path is transient target point, so every is also from working as around barrier path simultaneously
Path candidate of the preceding point to transient target point.When planning is around barrier path in object space, it is contemplated that robot kinematics' limitation,
Such as minimum, the maximum speed limitation of robot, minimum, maximum angular rate limitation etc., so the path cooked up is robot
It is pratical and feasible to sail.
There are many regular selection targets around barrier path, for example, be directed to single hop path, preferential selection is kept right the path of walking
(walking habits for more meeting people), or the path that preferential selection curvature is small (path is more flat)；For multistage combinatorial path, preferentially
The path (path change is gentler) for selecting Curvature varying small or many factors combination consideration etc..
Transient target point is reached, is completed around barrier for advancing along the target around barrier path around barrier module 500.
Specifically, when completing to reach transient target point around barrier, after returning to specified path, can along original specified path after
It is continuous to advance.The present embodiment makes to advise by being limited to object space with specified path no more than in the range of the first pre-determined distance
It is too far that the target marked around barrier path does not deviate by specified path, this can reduce robot and bump against when around barrier with pedestrian
Risk.
In another embodiment of the present invention, as shown in figure 8, it is a kind of on specified path around barrier path planning system
System, comprising:
Map obtains module 100, for obtaining the grating map of ambient enviroment during advancing along specified path,
And mark the barrier occupied information of each grid.
Barrier judgment module 200 detects that front environment has barrier for working as, and judges that the barrier influences certainly
When oneself advances, select the point an of P Passable as transient target point on the specified path at the barrier rear.
Spatial reference module 300, for from the grating map cut with the specified path be more than first preset away from
From grid, unappropriated grid portion forms to obtain object space in the grating map after cutting.
Path planning module 400, for cooking up several in the object space around barrier path, according to every around barrier
Path obtains the path candidate that the robot of the corresponding point from current point to transient target can travel；And from described in several
Selection target is around barrier path in path candidate.
The path planning module 400 includes:
Path planning unit 410, the planning for every path candidate, it may be assumed that
In the object space, a random point is generated according to the big rule of probability of happening on the right side of reference straight line；It is described
With reference to the straight line that straight line is by current point and transient target point；And it is found on random tree apart from the random point
Nearest tree node；The root node of the random tree be starting point, the starting point be the object space in the current point most
Close grid；And grow the tree node towards the direction of the random point, if utilizing robot kinematics' modeling
Dry item grows track, selects legal track from the growth track, and selection is apart from the random point from the legal track
Newly-increased node of the nearest final on trajectory as the random tree, and the newly-increased node is the child node of the tree node, institute
State the father node that tree node is the newly-increased node；And when the distance of the newly-increased node and terminal it is default less than second away from
From, and when the newly-increased node is grown successfully towards the terminal, then using the terminal as the child node of the newly-increased node；
The terminal is grid nearest with the transient target point in the object space；From the terminal through on the random tree
It is one around barrier path that father node to the starting point, which is formed by path, by the starting point and the current point phase around barrier path
Connection, and the terminal around barrier path is connected with the transient target point, forms a path candidate.
Specifically, every around barrier path be when the kinematics model for considering robot and people walk on the right side of detour
Habit, obtains on the basis of the improvement to the random tree method of rapid discovery.
" generating a random point according to the big rule of probability of happening on the right side of reference straight line " is meant that random point generates
Probability on the right side of straight line is bigger, for example, a number is randomly generated in 0~1 space, reference is selected when the number is less than 0.2
Random point on the left of straight line, when the number is more than or equal to 0.2 selection with reference to the random point on the right side of straight line, in this way, can allow with
The probability that machine point generates on the right side of reference straight line is bigger.This is mainly based upon " people is accustomed to right side and detours ", so on path planning
Make the probability on path towards right side higher.
A random tree is built, the root node of random tree is starting point, which is the current point in object space with robot
Nearest grid.A node nearest with the random point, referred to as tree node are looked on random tree.
Based on robot kinematics' model, tree node is grown towards the direction of random point.The model considers robot
Kinematic parameter, such as direction, speed, angular speed etc. and robot movement limitation, such as maximum, the minimum value of speed,
Maximum, minimum value of angular speed etc..When tree node is grown towards the direction of random point, according to a variety of different speed, angle speed
Degree combination, simulation obtain several growth tracks, if there is growth track have passed through non-targeted area of space, then the track is
It is illegal；The starting point of all growth tracks is all tree node, but terminal is different, and is selected in legal track from random point
Newly-increased node of the nearest final on trajectory as random tree, this increases the child node that node is the tree node, while the tree node newly
Increase the father node of node newly for this.
Judge that whether this increases the distance of node and terminal newly less than the second pre-determined distance；The terminal be object space in
The nearest grid of transient target point.If the distance of the newly-increased node and terminal less than the second pre-determined distance, illustrates newly-increased node
It is close from terminal, allow at this time newly-increased node towards terminal grow, be also based on robot kinematics' model, according to it is various not
Speed together, angular speed combination, simulation obtain several growth tracks, pass through terminal if there is a legal track, then
Show that the newly-increased node is grown successfully towards terminal, increase the child node of node newly using terminal as this at this time, which is eventually
The father node of point.The root node (i.e. starting point) that the father node on random tree to random tree is begun stepping through from terminal, is formed by road
Diameter is one and the starting point around barrier path is connected with current point around barrier path, and is somebody's turn to do terminal and interim mesh around barrier path
Punctuate is connected, and just forms the path candidate of a point from current point to transient target.
If the distance of the newly-increased node and terminal is not less than the second pre-determined distance, illustrate to increase newly node from terminal also compared with
Far, need to repeat process above-mentioned at this time, choose random point and tree node again, attempt to grow to random point, explore again around
Hinder path and path candidate.
In the present embodiment, the current point of robot, transient target point are all in object space, so every around barrier path
Starting point is current point, and every terminal around barrier path is transient target point, has explored around barrier path, has also just obtained candidate road
Diameter.By the way that the planning of every path candidate is performed a plurality of times, to obtain several path candidates.
Path evaluation unit 420, for assessing according to assessment factor every path candidate, and according to assessment result
Select optimal path as target around barrier path；Wherein, the assessment factor includes the average curvature of path candidate, and/or puts down
Equal Curvature varying, and/or average direction, and/or average direction variation, and/or the distance apart from barrier.
Specifically, assessment factor is accustomed to from the detour of people, detour time and detour convenience etc. consider, including path candidate
Average curvature, and/or average curvature variation, and/or it is average towards, and/or it is average towards variation, and/or apart from barrier
Distance, selection detour the time it is short, the path turned to the right is more preferably.
Transient target point is reached, is completed around barrier for advancing along the target around barrier path around barrier module 500.
Specifically, the habit that right side is detoured when kinematics model and people of the present embodiment based on robot are walked, planning
The target of detour habit that robot can travel, meeting people is around barrier path.
In another embodiment of the present invention, as shown in figure 8, it is a kind of on specified path around barrier path planning system
System, comprising:
On the basis of previous embodiment, spatial reference module has done further improvement, other functions of modules are identical,
So no longer repeating.
Spatial reference module 300, for from the grating map cut with the specified path be more than first preset away from
From grid, and cut with the barrier not presetting from barrier range in grid；The grating map after cutting
In unappropriated grid portion formed to obtain object space.
Specifically, " not presetting from the grid in barrier range with the barrier " meaning refers to the grid and barrier side
The distance of edge is not being preset from barrier range, this part grid needs cropped.Example 1, preset from barrier range be no more than
5cm, then the grid at a distance from barrier edge being more than 5cm is not preset from the grid in barrier range, needs to be cut；Show
Example 2, preset from barrier range be no more than 5cm, and be not less than 2cm, then fallen between 2~5cm at a distance from barrier edge
Grid is qualified grid, other grids will be cut.Example 3, preset from barrier range be not less than 2cm, then with barrier edge
Distance needed less than the grid of 2cm it is cropped.
In the present embodiment, object space may not may also include comprising current point or transient target point, this depends on working as
Whether preceding point, transient target point are being preset from barrier range.If current point, transient target point not preset from barrier range in,
Then select with reference on straight line, grid nearest with current point in object space be starting point, selection refers on straight line, in object space
It is terminal with the nearest grid of transient target point.
When obtain origin-to-destination around barrier path after, by this around barrier path starting point be connected with current point, and this around
The terminal in barrier path is connected with transient target point, just obtains a path candidate.
The present embodiment by by object space be limited to specified path be no more than the first pre-determined distance and with barrier
Distance is being preset from barrier range, and the target cooked up further is made, as far as possible along specified path, only to work as robot around barrier path
With at a distance from barrier presetting from barrier range in when just along around barrier path walk, further reduced robot around barrier when and mistake
Toward the risk of pedestrian collision.
In another embodiment of the present invention, as shown in figure 8, it is a kind of on specified path around barrier path planning system
System, comprising:
Map obtains module 100, for obtaining the grating map of ambient enviroment during advancing along specified path,
And mark the barrier occupied information of each grid.
Barrier judgment module 200 detects that front environment has barrier for working as, and judges that the barrier influences certainly
When oneself advances, select the point an of P Passable as transient target point on the specified path at the barrier rear.
Spatial reference module 300, for from the grating map cut with the specified path be more than first preset away from
From grid, and cut with the barrier not presetting from barrier range in grid；The grating map after cutting
In unappropriated grid portion formed to obtain object space.
Path planning module 400, for cooking up several in the object space around barrier path, according to every around barrier
Path obtains the path candidate that the robot of the corresponding point from current point to transient target can travel；And from described in several
Selection target is around barrier path in path candidate.
The path planning module includes:
Path planning unit 410 is used in the object space, according to the big rule of probability of happening on the right side of reference straight line
Generate a random point；Described with reference to straight line is straight line by current point and transient target point；And on random tree
Find the tree node nearest apart from the random point；The root node of the random tree is starting point, and the starting point is the target empty
Between in the grid nearest with the current point；And equal interval sampling is carried out in the bound of robot speed, it obtains several
Candidate speed；Equal interval sampling is carried out in the bound of Schemes of Angular Velocity Estimation for Robots, obtains several candidate angular speed；And to every
One candidate speed, candidate angular speed are combined, and obtain several speed angular speed combinations；And based on the robot
Current kinetic parameters obtain corresponding growth track by each speed angular speed combine analog preset time；The current kinetic
Parameter includes current direction, present speed, current angular velocity；And all growth tracks are traversed, give up each point of track not
It is to be all located at growth track in object space and there are curvature more than the maximum curvature that robot can execute, obtains
Legal track；And from the final on trajectory of all legal tracks, described in the nearest final on trajectory conduct of selected distance random point
The newly-increased node of random tree, and the newly-increased node is the child node of the tree node, the tree node is the newly-increased node
Father node；And when the distance of the newly-increased node and terminal is less than the second pre-determined distance, and the newly-increased node is towards institute
When stating terminal and growing successfully, then using the terminal as the child node of the newly-increased node；The terminal is the object space
In the grid nearest with the transient target point；It is formed from the terminal through the father node on the random tree to the starting point
Path be one the starting point around barrier path be connected with the current point around barrier path, and it is described around hindering path
Terminal is connected with the transient target point, forms a path candidate.
Path evaluation unit 420, for being directed to every path candidate, average curvature values are smaller, and average curvature score value is got over
It is low；And/or average curvature changing value is smaller, it is lower that average curvature changes score value；And/or it is average towards to the right, it is average
It is lower towards score value；And/or it is average smaller towards changing value, it is average lower towards variation score value；And/or apart from barrier
Closer, it is lower apart from barrier score value；To average curvature score value and/or average curvature variation score value and/or average direction point
Value and/or it is weighted summation apart from barrier score value, obtains the assessment result of every path candidate, and select according to assessment result
Optimal path is selected as target around barrier path.
Transient target point is reached, is completed around barrier for advancing along the target around barrier path around barrier module 500.
Specifically, the present embodiment grows track to based on robot kinematics' modeling, and path candidate is commented
Estimate to a specific embodiment.
It should be noted that above-described embodiment can be freely combined as needed.The above is only of the invention preferred
Embodiment, it is noted that for those skilled in the art, in the premise for not departing from the principle of the invention
Under, several improvements and modifications can also be made, these modifications and embellishments should also be considered as the scope of protection of the present invention.
Claims (10)
1. it is a kind of on specified path around barrier paths planning method characterized by comprising
During advancing along specified path, the grating map of ambient enviroment is obtained, and the barrier of each grid is marked to account for
Use information；
When detect front environment have barrier, and judge the barrier influence oneself advance when, at the barrier rear
Specified path on select the point an of P Passable as transient target point；
It is cut from the grating map and the specified path is more than the grid of the first pre-determined distance, the grid after cutting
Unappropriated grid portion forms to obtain object space in lattice map；
Cooked up in the object space several around barrier path, according to every around barrier path obtain it is corresponding from current point to
The travelable path candidate of the robot of transient target point；
Selection target is around barrier path from several path candidates；Advance along the target around barrier path, reaches interim mesh
Punctuate is completed around barrier.
2. it is according to claim 1 on specified path around barrier paths planning method, which is characterized in that it is described from described
Cut in grating map with the specified path be more than the first pre-determined distance grid, in the grating map after cutting not
Occupied grid portion forms to obtain object space, further includes:
It is cut from the grating map and the specified path is more than the grid of the first pre-determined distance, and cut and the barrier
Object is hindered not preset from the grid in barrier range；Unappropriated grid portion is formed in the grating map after cutting
To object space.
3. it is according to claim 1 or 2 on specified path around barrier paths planning method, which is characterized in that it is described
Several are cooked up in the object space around barrier path, obtained according to every around barrier path corresponding from current point to interim
The travelable path candidate of the robot of target point, wherein the planning of every path candidate includes:
In the object space, a random point is generated according to the big rule of probability of happening on the right side of reference straight line；The reference
Straight line is the straight line by current point and transient target point；
The tree node nearest apart from the random point is found on random tree；The root node of the random tree be starting point, described
Point is grid nearest with the current point in the object space；
The tree node is grown towards the direction of the random point, utilizes several growth rails of robot kinematics' modeling
Mark selects legal track from the growth track, and the track nearest apart from the random point is selected from the legal track
Newly-increased node of the terminal as the random tree, and the newly-increased node is the child node of the tree node, the tree node is
The father node of the newly-increased node；
When the distance of the newly-increased node and terminal is less than the second pre-determined distance, and the newly-increased node is grown towards the terminal
When success, then using the terminal as the child node of the newly-increased node；The terminal is to face in the object space with described
When the nearest grid of target point；
Being formed by path through the father node on the random tree to the starting point from the terminal is one around barrier path, by institute
It states the starting point around barrier path to be connected with the current point, and the terminal around barrier path is connected with the transient target point
It connects, forms a path candidate.
4. it is according to claim 3 on specified path around barrier paths planning method, which is characterized in that it is described utilize machine
Device people's kinematics model simulates several growth tracks, legal track is selected from the growth track, from the legal track
The middle newly-increased node for selecting the final on trajectory nearest apart from the random point as the random tree, specifically includes:
Equal interval sampling is carried out in the bound of robot speed, obtains several candidate speed；In the upper of Schemes of Angular Velocity Estimation for Robots
Equal interval sampling is carried out in lower limit, obtains several candidate angular speed；
Each candidate speed, candidate angular speed are combined, several speed angular speed combinations are obtained；
It is obtained corresponding based on the current kinetic parameters of the robot by each speed angular speed combine analog preset time
Grow track；The current kinetic parameters include current direction, present speed, current angular velocity；
All growth tracks are traversed, each point for giving up track is not to be all located at that in object space and there are curvature is more than
The growth track for the maximum curvature that robot can execute, obtains legal track；
From the final on trajectory of all legal tracks, the nearest final on trajectory of selected distance random point is as the new of the random tree
Increase node.
5. it is according to claim 1 on specified path around barrier paths planning method, which is characterized in that it is described from several
Selection target includes: around barrier path in path candidate described in item
Every path candidate is assessed according to assessment factor, and selects optimal path as target around barrier according to assessment result
Path；
Wherein, the assessment factor include path candidate average curvature, and/or average curvature variation, and/or it is average towards,
And/or it is average towards variation, and/or the distance apart from barrier.
6. it is according to claim 5 on specified path around barrier paths planning method, which is characterized in that it is described according to commenting
Estimate factor to every path candidate carry out assessment specifically include:
For every path candidate, average curvature values are smaller, and average curvature score value is lower；
And/or
Average curvature changing value is smaller, and it is lower that average curvature changes score value；
And/or
It is average towards to the right, it is average lower towards score value；
And/or
It is average smaller towards changing value, it is average lower towards variation score value；
And/or
It is closer apart from barrier, it is lower apart from barrier score value；
To average curvature score value and/or average curvature variation score value and/or it is average towards score value and/or apart from barrier score value into
Row weighted sum obtains the assessment result of every path candidate.
7. it is a kind of on specified path around barrier path planning system characterized by comprising
Map obtains module, for during advancing along specified path, obtaining the grating map of ambient enviroment, and marks every
The barrier occupied information of a grid；
Barrier judgment module detects that front environment has barrier for working as, and judges that the barrier influences oneself and advances
When, select the point an of P Passable as transient target point on the specified path at the barrier rear；
Spatial reference module, for from the grating map cut with the specified path be more than the first pre-determined distance grid
Lattice, unappropriated grid portion forms to obtain object space in the grating map after cutting；
Path planning module is obtained according to every around barrier path for cooking up several in the object space around barrier path
The path candidate travelable to the robot of the corresponding point from current point to transient target；And from several candidate roads
Selection target is around barrier path in diameter；
Transient target point is reached, is completed around barrier for advancing along the target around barrier path around barrier module.
8. it is according to claim 7 on specified path around barrier path planning system, it is characterised in that:
The spatial reference module, being further used for cutting from the grating map with the specified path is more than first default
The grid of distance, and cut and do not preset from the grid in barrier range with the barrier；The grid after cutting
Unappropriated grid portion forms to obtain object space in figure.
9. it is according to claim 7 or 8 on specified path around barrier path planning system, which is characterized in that the road
Diameter planning module includes:
Path planning unit, for generating one according to the big rule of probability of happening on the right side of reference straight line in the object space
A random point；Described with reference to straight line is straight line by current point and transient target point；And found on random tree away from
The tree node nearest from the random point；The root node of the random tree be starting point, the starting point be the object space in
The nearest grid of the current point；And grow the tree node towards the direction of the random point, utilize robot motion
Learn several growth tracks of modeling, select legal track from the growth track, from the legal track select away from
Newly-increased node of the final on trajectory nearest from the random point as the random tree, and the newly-increased node is the tree node
Child node, the tree node be the newly-increased node father node；And when the distance of the newly-increased node and terminal is less than
Second pre-determined distance, and when the newly-increased node is grown successfully towards the terminal, then using the terminal as the newly-increased section
The child node of point；The terminal is grid nearest with the transient target point in the object space；From the terminal through institute
State father node to the starting point on random tree be formed by path be one around barrier path, by it is described around barrier path starting point with
The current point is connected, and the terminal around barrier path is connected with the transient target point, forms a path candidate.
10. it is according to claim 7 on specified path around barrier path planning system, which is characterized in that the path
Planning module further include:
Path evaluation unit, for assessing according to assessment factor every path candidate, and most according to assessment result selection
Good path is as target around barrier path；Wherein, the assessment factor includes the average curvature, and/or average curvature of path candidate
Variation, and/or average direction, and/or average direction variation, and/or the distance apart from barrier.
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| CN109814557A (en) * | 2019-01-23 | 2019-05-28 | 西北工业大学 | A kind of robot path planning method that Global motion planning device is leading |
| CN109947100A (en) * | 2019-03-12 | 2019-06-28 | 深圳优地科技有限公司 | Paths planning method, system and terminal device |
| CN110209202A (en) * | 2019-06-26 | 2019-09-06 | 深圳市道通智能航空技术有限公司 | A kind of feas ible space generation method, device, aircraft and aerocraft system |
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| CN115540892A (en) * | 2022-11-28 | 2022-12-30 | 北京理工大学深圳汽车研究院(电动车辆国家工程实验室深圳研究院) | Obstacle-detouring terminal point selection method and system for fixed line vehicle |
| CN115540892B (en) * | 2022-11-28 | 2023-03-24 | 北京理工大学深圳汽车研究院(电动车辆国家工程实验室深圳研究院) | Obstacle-detouring terminal point selection method and system for fixed line vehicle |
| CN115892075A (en) * | 2023-01-06 | 2023-04-04 | 阿里巴巴达摩院(杭州)科技有限公司 | Trajectory planning method, automatic driving device and computer storage medium |
| CN116147637A (en) * | 2023-04-24 | 2023-05-23 | 福勤智能科技（昆山）有限公司 | Method, device, equipment and storage medium for generating occupied grid map |
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