CN113050627A - 路径规划方法、装置、移动机器人及计算机存储介质 - Google Patents

路径规划方法、装置、移动机器人及计算机存储介质 Download PDF

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Publication number
CN113050627A
CN113050627A CN202110231697.3A CN202110231697A CN113050627A CN 113050627 A CN113050627 A CN 113050627A CN 202110231697 A CN202110231697 A CN 202110231697A CN 113050627 A CN113050627 A CN 113050627A
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Chinese (zh)
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关傲
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Beijing Kuangshi Robot Technology Co Ltd
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Beijing Kuangshi Robot Technology Co Ltd
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Priority to CN202110231697.3A priority Critical patent/CN113050627A/zh
Publication of CN113050627A publication Critical patent/CN113050627A/zh
Priority to PCT/CN2021/133235 priority patent/WO2022183790A1/fr
Pending legal-status Critical Current

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Electromagnetism (AREA)
  • Optics & Photonics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • Manipulator (AREA)
CN202110231697.3A 2021-03-02 2021-03-02 路径规划方法、装置、移动机器人及计算机存储介质 Pending CN113050627A (zh)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN202110231697.3A CN113050627A (zh) 2021-03-02 2021-03-02 路径规划方法、装置、移动机器人及计算机存储介质
PCT/CN2021/133235 WO2022183790A1 (fr) 2021-03-02 2021-11-25 Procédé et appareil de planification de trajet, robot mobile, support de stockage et programme

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110231697.3A CN113050627A (zh) 2021-03-02 2021-03-02 路径规划方法、装置、移动机器人及计算机存储介质

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CN113050627A true CN113050627A (zh) 2021-06-29

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CN (1) CN113050627A (fr)
WO (1) WO2022183790A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113492411A (zh) * 2021-09-10 2021-10-12 季华实验室 机器人抓取路径规划方法、装置、电子设备及存储介质
CN114347041A (zh) * 2022-02-21 2022-04-15 汕头市快畅机器人科技有限公司 群体机器人控制与图案生成方法
WO2022183790A1 (fr) * 2021-03-02 2022-09-09 北京旷视机器人技术有限公司 Procédé et appareil de planification de trajet, robot mobile, support de stockage et programme

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115870976A (zh) * 2022-11-16 2023-03-31 北京洛必德科技有限公司 一种机械臂的采样轨迹规划方法和装置、电子设备

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US20110035087A1 (en) * 2009-08-10 2011-02-10 Samsung Electronics Co., Ltd. Method and apparatus to plan motion path of robot
CN105549597A (zh) * 2016-02-04 2016-05-04 同济大学 一种基于环境不确定性的无人车动态路径规划方法
CN106774347A (zh) * 2017-02-24 2017-05-31 安科智慧城市技术（中国）有限公司 室内动态环境下的机器人路径规划方法、装置和机器人
CN109521763A (zh) * 2017-09-18 2019-03-26 百度（美国）有限责任公司 用于自动驾驶车辆的基于约束平滑样条的路径优化
CN109542106A (zh) * 2019-01-04 2019-03-29 电子科技大学 一种移动机器人多约束条件下的路径规划方法
CN110908386A (zh) * 2019-12-09 2020-03-24 中国人民解放军军事科学院国防科技创新研究院 一种无人车分层路径规划方法
CN111338346A (zh) * 2020-03-05 2020-06-26 中国第一汽车股份有限公司 一种自动驾驶控制方法、装置、车辆及存储介质
CN112393728A (zh) * 2020-10-23 2021-02-23 浙江工业大学 一种基于a*算法和rrt*算法的移动机器人路径规划方法

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CN106114507B (zh) * 2016-06-21 2018-04-03 百度在线网络技术（北京）有限公司 用于智能车辆的局部轨迹规划方法和装置
CN107664993A (zh) * 2016-07-29 2018-02-06 法乐第(北京)网络科技有限公司 一种路径规划方法
CN110262488B (zh) * 2019-06-18 2021-11-30 重庆长安汽车股份有限公司 自动驾驶的局部路径规划方法、系统及计算机可读存储介质
CN111290385B (zh) * 2020-02-19 2023-10-03 达闼机器人股份有限公司 一种机器人路径规划方法、机器人、电子设备及存储介质
CN112099493B (zh) * 2020-08-31 2021-11-19 西安交通大学 一种自主移动机器人轨迹规划方法、系统及设备
CN113050627A (zh) * 2021-03-02 2021-06-29 北京旷视机器人技术有限公司 路径规划方法、装置、移动机器人及计算机存储介质

Patent Citations (8)

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Publication number Priority date Publication date Assignee Title
US20110035087A1 (en) * 2009-08-10 2011-02-10 Samsung Electronics Co., Ltd. Method and apparatus to plan motion path of robot
CN105549597A (zh) * 2016-02-04 2016-05-04 同济大学 一种基于环境不确定性的无人车动态路径规划方法
CN106774347A (zh) * 2017-02-24 2017-05-31 安科智慧城市技术（中国）有限公司 室内动态环境下的机器人路径规划方法、装置和机器人
CN109521763A (zh) * 2017-09-18 2019-03-26 百度（美国）有限责任公司 用于自动驾驶车辆的基于约束平滑样条的路径优化
CN109542106A (zh) * 2019-01-04 2019-03-29 电子科技大学 一种移动机器人多约束条件下的路径规划方法
CN110908386A (zh) * 2019-12-09 2020-03-24 中国人民解放军军事科学院国防科技创新研究院 一种无人车分层路径规划方法
CN111338346A (zh) * 2020-03-05 2020-06-26 中国第一汽车股份有限公司 一种自动驾驶控制方法、装置、车辆及存储介质
CN112393728A (zh) * 2020-10-23 2021-02-23 浙江工业大学 一种基于a*算法和rrt*算法的移动机器人路径规划方法

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2022183790A1 (fr) * 2021-03-02 2022-09-09 北京旷视机器人技术有限公司 Procédé et appareil de planification de trajet, robot mobile, support de stockage et programme
CN113492411A (zh) * 2021-09-10 2021-10-12 季华实验室 机器人抓取路径规划方法、装置、电子设备及存储介质
CN113492411B (zh) * 2021-09-10 2021-11-30 季华实验室 机器人抓取路径规划方法、装置、电子设备及存储介质
CN114347041A (zh) * 2022-02-21 2022-04-15 汕头市快畅机器人科技有限公司 群体机器人控制与图案生成方法
CN114347041B (zh) * 2022-02-21 2024-03-08 汕头市快畅机器人科技有限公司 群体机器人控制与图案生成方法

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