CN114355927A

CN114355927A - Path planning method and device and computer readable storage medium

Info

Publication number: CN114355927A
Application number: CN202111633784.8A
Authority: CN
Inventors: 桑云; 吴加春
Original assignee: Hangzhou Hikrobot Technology Co Ltd
Current assignee: Hangzhou Hikrobot Technology Co Ltd
Priority date: 2021-12-29
Filing date: 2021-12-29
Publication date: 2022-04-15
Anticipated expiration: 2041-12-29
Also published as: CN114355927B

Abstract

The embodiment of the application discloses a path planning method, a path planning device and a computer-readable storage medium, and belongs to the field of motion planning. In this application embodiment, through the process that the simulation removal thing moved in the right angle turn of reference outside, plan out the removal thing and can pass in right angle turn department route, can plan out like this that the removal thing occupies less turn space at the removal process, and the barrier is difficult for colliding to the removal thing like this, has improved the security.

Description

Path planning method and device and computer readable storage medium

Technical Field

The present disclosure relates to the field of motion planning, and in particular, to a path planning method and apparatus, and a computer-readable storage medium.

Background

With the development of mobile robots in recent years, the mobile robots are more and more commonly applied in logistics, warehousing, factory production and the like, for example, AGVs (Automated Guided vehicles) carry goods, multiple vehicles cooperate to carry goods, and the like. In the process of applying the mobile robot, a path of the mobile robot needs to be planned, so that the mobile robot moves according to the planned path. Among other things, attention is paid to path planning at right angle turns in cramped environments.

In the related art, it is assumed that the size of the moving object and the right-angle turn are both determined, and in this case, the path of the moving object at the right-angle turn is planned. Wherein, the moving object comprises a mobile robot and goods. For this situation, the planning method adopted at present is as follows: looking at the moving object as a moving point, the path of the moving point at the right angle turn is generated by manually editing the path of the moving point at the right angle turn, for example, by manually adjusting the control points of the bezier curve.

Therefore, in the related art, human resources are consumed for manual intervention, and in addition, due to the shortage of space resources in a constraint environment, the occupied space of a moving object in the moving process according to a path planned by manual editing is possibly large, the moving object is easy to collide with an obstacle in the moving process, and the safety is also low.

Disclosure of Invention

The embodiment of the application provides a path planning method, a path planning device and a computer-readable storage medium, which can plan a path with the least occupied space in the moving process of a moving object and improve the safety. The technical scheme is as follows:

in one aspect, a method for path planning is provided, where the method includes:

determining a starting pose and an ending pose of a moving object at a reference outer right-angle bend according to starting and ending pose setting conditions, wherein the starting and ending pose setting conditions comprise that the moving object is in contact with the reference outer right-angle bend and at least two contact points exist when the moving object is in the starting pose and the ending pose;

and simulating the process that the moving object moves from the starting pose to the ending pose along the reference outer right-angle bend, and determining the planned path of the moving object at the right-angle bend according to the curve drawn by any point on the moving object in the process.

Optionally, one side of the reference outside quarter turn is parallel to and at a safety distance from one side of a first outside quarter turn, the other side of the reference outside quarter turn is parallel to and at a safety distance from the other side of the first outside quarter turn, the reference outside quarter turn is between the first outside quarter turn and a first inside quarter turn, the first outside quarter turn and the first inside quarter turn respectively representing an outside quarter turn and an inside quarter turn of a quarter turn through which the moving object is to pass.

Optionally, the

Simulating a process of the moving object moving from the starting pose to the ending pose along the reference outer right-angle bend, and determining a planned path of the moving object at the right-angle bend according to a curve drawn by any point on the moving object in the process, wherein the process comprises the following steps:

taking the starting pose as the current pose of the moving object;

performing a simulation operation, the simulation operation comprising: taking a line segment formed by two end points of the moving object in contact with the reference outer right-angled bend in the current pose state as a sliding line segment corresponding to the current pose; simulating sliding of the moving object from the current pose to a next state by sliding two end points of the sliding line segment against the reference outer quarter bend, taking a curve drawn by any point on the moving object during sliding as a trajectory line corresponding to the sliding line segment, and changing the pose of the moving object during sliding as a pose change of the moving object on the trajectory line, wherein the next state is a state in which the moving object slides to a state in which an end point in contact with the reference outer quarter bend changes;

if the pose corresponding to the next state is the same as the termination pose, obtaining the planning path, wherein the planning path comprises a set of trajectory lines corresponding to different sliding line segments in the simulation process and the posture change of the moving object on each trajectory line in the set of trajectory lines;

and if the pose corresponding to the next state is different from the ending pose, updating the current pose to the pose corresponding to the next state, and returning to execute the simulation operation.

Optionally, the reference outer quarter bend corresponds to a reference inner quarter bend, and the planned path is obtained when the trajectory line corresponding to each sliding line segment meets the moving condition;

after the curve drawn by any point on the moving object in the sliding process is taken as the corresponding trajectory line of the sliding line segment, the method further comprises the following steps:

according to the size information of the moving object, calculating the area swept by the moving object in the sliding process to obtain a moving coverage area corresponding to the trajectory line;

determining that the trajectory line satisfies the movement condition if the movement coverage area does not exceed an area between the reference inner quarter turn and the reference outer quarter turn.

Optionally, one side of the reference inner quarter turn is parallel to and at a safety distance from one side of a first inner quarter turn, the other side of the reference inner quarter turn is parallel to and at a safety distance from the other side of the first inner quarter turn, the reference inner quarter turn is between the first inner quarter turn and a first outer quarter turn, and the first outer quarter turn and the first inner quarter turn represent outer and inner quarter turns, respectively, of the quarter turn through which the moving object is to pass.

Optionally, the start-stop pose setting condition further includes:

the moving object can reach the right-angle bend through a first path section in the posture of the starting pose, and the first path section is a path section connected with the head end of the right-angle bend;

the moving object can pass through a second path section in the gesture of the termination pose, and the second path section is a path section connected with the tail end of the right-angle turn.

In another aspect, a path planning apparatus is provided, the apparatus including:

the starting and stopping pose determining module is used for determining a starting pose and a stopping pose of the moving object at a reference outer side right-angle bend according to starting and stopping pose setting conditions, wherein the starting and stopping pose setting conditions comprise that the moving object is in contact with the reference outer side right-angle bend when being in the starting pose and the stopping pose, and at least two contact points exist;

and the path planning module is used for simulating the process that the moving object moves from the starting pose to the ending pose along the reference outer right-angle bend, and determining the planned path of the moving object at the right-angle bend according to a curve drawn by any point on the moving object in the process.

Optionally, the path planning module includes:

a current pose determination submodule for taking the starting pose as a current pose of the moving object;

a simulation submodule for performing simulation operations, the simulation operations including: taking a line segment formed by two end points of the moving object in contact with the reference outer right-angled bend in the current pose state as a sliding line segment corresponding to the current pose; simulating sliding of the moving object from the current pose to a next state by sliding two end points of the sliding line segment against the reference outer quarter bend, taking a curve drawn by any point on the moving object during sliding as a trajectory line corresponding to the sliding line segment, and changing the pose of the moving object during sliding as a pose change of the moving object on the trajectory line, wherein the next state is a state in which the moving object slides to a state in which an end point in contact with the reference outer quarter bend changes;

a path determination submodule, configured to obtain the planned path if the pose corresponding to the next state is the same as the termination pose, where the planned path includes a set of trajectory lines corresponding to different sliding line segments in a simulation process, and a change in the posture of the moving object on each trajectory line in the set of trajectory lines;

and the current pose updating submodule is used for updating the current pose to the pose corresponding to the next state if the pose corresponding to the next state is different from the termination pose, and returning to execute the simulation operation.

the path planning module further comprises:

the moving area calculating submodule is used for calculating the area swept by the moving object in the sliding process according to the size information of the moving object to obtain a moving coverage area corresponding to the trajectory line;

an executive determination sub-module to determine that the trajectory line satisfies the movement condition if the movement coverage area does not exceed an area between the reference inner quarter turn and the reference outer quarter turn.

Optionally, the start-stop pose setting condition further includes:

In another aspect, a computer device is provided, where the computer device includes a processor, a communication interface, a memory, and a communication bus, where the processor, the communication interface, and the memory complete mutual communication through the communication bus, the memory is used to store a computer program, and the processor is used to execute the program stored in the memory to implement the steps of the path planning method.

In another aspect, a computer-readable storage medium is provided, in which a computer program is stored, which, when being executed by a processor, carries out the steps of the path planning method described above.

In another aspect, a computer program product is provided comprising instructions which, when run on a computer, cause the computer to perform the steps of the path planning method described above.

The technical scheme provided by the embodiment of the application can at least bring the following beneficial effects:

in this application embodiment, through the process that the simulation removal thing moved that the reference outside quarter turn removed, plan out the removal thing and can pass in quarter turn department, the route that this scheme was planned can guarantee to move the thing and occupy less turn space when quarter turn department removes, and the barrier is difficult for colliding to the removal thing like this, has improved the security.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic view of a shape of a moving object according to an embodiment of the present disclosure;

FIG. 2 is an analysis schematic diagram of a line section turning through a right angle provided by an embodiment of the present application;

FIG. 3 is a schematic diagram of a center trajectory of a line segment for turning through a right angle according to an embodiment of the present disclosure;

FIG. 4 is a schematic diagram of a minimum spatial analysis of a line section turning through a right angle according to an embodiment of the present application;

FIG. 5 is a schematic view of a minimum turn space for a line section to make a right angle turn according to an embodiment of the present application;

FIG. 6 is a schematic diagram of a moving coverage area of a line segment during a right angle turn according to an embodiment of the present disclosure;

FIG. 7 is a schematic view of a minimum turn space for a moving object to make a right angle turn according to an embodiment of the present application;

FIG. 8 is a schematic view of a moving coverage area of a moving object making a right angle turn according to an embodiment of the present application;

FIG. 9 is a schematic view of another alternative minimum turn space for a moving object to make a right angle turn according to embodiments of the present application;

FIG. 10 is a schematic view of a process for moving an object through a right angle turn according to an embodiment of the present application;

FIG. 11 is a schematic view of another mobile coverage area provided by embodiments of the present application when the mobile object makes a right angle turn;

fig. 12 is a flowchart of a path planning method according to an embodiment of the present application;

fig. 13 is a flowchart of another path planning method provided in the embodiment of the present application;

fig. 14 is a flowchart of another path planning method provided in the embodiment of the present application;

fig. 15 is a schematic structural diagram of a path planning apparatus according to an embodiment of the present application;

fig. 16 is a schematic structural diagram of a computer device according to an embodiment of the present application.

Detailed Description

To make the objects, technical solutions and advantages of the embodiments of the present application more clear, the embodiments of the present application will be further described in detail with reference to the accompanying drawings.

First, the related terms and application scenarios related to the embodiments of the present application will be described.

Path planning: the method is a method for planning an executable path from an initial pose to a target pose by comprehensively considering factors such as path length, obstacle encountering risk (distance from an obstacle), execution efficiency and the like in order to complete a certain task. The path planning problem is essentially an optimization problem, and currently common path planning methods include two major categories: search-class algorithms (e.g., search algorithms such as a-star, D-star) and evolutionary computation-class algorithms (e.g., genetic algorithms, ant colony algorithms, etc.).

Moving objects: including but not limited to mobile robots and cargo being handled. The moving object may be referred to as a load, for example, the AGV after lifting the load and the load are considered as a whole, which is referred to as a "load". The moving object may also be referred to as a mobile robot.

A local environment: there is no satisfactory environment in which a mobile object can be rotated in place through 360 ° at all points of a planned path without encountering an obstacle (e.g., the edge of a traffic path). For example, it is not satisfactory to have an environment where a 360 ° rotation in place can be achieved after the car is loaded at all points along the planned path, without colliding with obstacles.

Pose: i.e., position and attitude, the position is typically expressed as (x, y) and the attitude (also referred to as heading or yaw) is typically expressed as θ in a two-dimensional coordinate system. In the embodiment of the present application, with respect to the two-dimensional plane map, the pose of the moving object includes the position where the moving object is located and the pose of the moving object at the position, and the pose is expressed as (x, y, θ).

Next, an application scenario of the embodiment of the present application will be described.

Along with the development of science and technology, the application of mobile robot in the aspects of commodity circulation, storage, factory production etc. is more and more common, when using mobile robot to transport goods, need consider the whole size of mobile robot and goods to and the length and the width of route of passing, adjust the whole position appearance of mobile robot and goods to guarantee that the mobile robot of transport goods can go smoothly on planning the route, can not collide the barrier. Most plants have limited site resources, usually have a large number of cargo stores or stations, and the environment is relatively cramped, but generally has several characteristics as a whole: 1. the occupied area is usually a regular rectangular area; 2. the passage for the transportation of goods is usually a regular rectangular passage; 3. the transport channels typically intersect at 90 ° in cross-machine direction. Therefore, the problem of path planning of freight transportation at the right-angle corner can be frequently encountered in practice, and the embodiment of the application provides a path planning method for the right-angle corner, so that a moving object can pass through the right-angle corner in a manner of occupying the minimum space.

The path planning method provided by the embodiment of the application comprises but is not limited to the application of two aspects, in the first aspect, the size of the moving object and the size of the rectangle of the right-angle turn are determined, and a path farthest from the obstacle (with optimal safety) is planned. In the second aspect, the size of the moving object is determined, and the minimum turning space for the moving object to pass is planned, for example, a turning rectangle for goods transportation needs to be designed before the factory construction. It should be noted that the nature of the two applications is the same, and the embodiment of the present application is mainly described as the first application.

The principle of the path planning method provided by the embodiment of the present application is described next.

For simplicity of description, the embodiment of the present application may consider the mobile robot and the cargo as a whole, i.e., a moving object, when planning a path.

Referring to fig. 1, fig. 1 is a schematic view of a shape of a moving object provided in an embodiment of the present application, assuming that a length of a mobile robot is L_cWidth of W_cLength of cargo L_gWidth of W_gIn fig. 1, the dashed boxes (1) to (4) represent cargos, and the solid boxes represent mobile robots. The combination of the mobile robot and the cargo includes four possible cases (1) to (4) in fig. 1.

(1) The length of goods is less than the length of mobile robot, and the width of goods is less than the width of mobile robot. In the case of not considering the height, the overall size of the goods and the mobile robot is the peripheral size of the mobile robot, and at this time, the length of the moving object is L_cWidth of W_c。

(2) The length of goods is greater than mobile robot's length, and the width of goods is greater than mobile robot's width. In the case of not considering the height, the overall size of the goods and the mobile robot is the peripheral size of the goods, and at this time, the length of the moving objectIs L_gWidth of W_g。

(3) The length of goods is greater than mobile robot's length, and the width of goods is less than mobile robot's width. In the case where the height is not considered, the overall length of the load and the mobile robot is the length of the load, and the overall width is the width of the mobile robot, and in this case, the length of the moving object is L_gWidth of W_c。

(4) The length of goods is less than the length of mobile robot, and the width of goods is greater than the width of mobile robot. In the case where the height is not considered, the overall length of the load and the mobile robot is the length of the mobile robot, and the overall width is the width of the load, in which case the length of the moving object is L_cWidth of W_g。

Among them, the above cases (1) and (2) can be regarded as one case, as the moving object shape 1 shown as "case 1" in fig. 1, and the above cases (3) and (4) can be regarded as the other case, as the moving object shape 2 shown as "case 2" in fig. 1. In the case of the moving object shape 1, the size information of the moving object can be represented by the length and width of one circumscribed rectangle when planning the passing path of the moving object, and in the case of the moving object shape 2, the size information of the moving object can be represented by the length and width of two circumscribed rectangles when planning the passing path of the moving object.

In addition, for other irregularly-shaped goods or moving objects combined by moving robots, the size information of the moving objects can be represented according to the circumscribed rectangle of the moving objects. Alternatively, for an irregularly shaped moving object, the outer edge polygon of the moving object may be determined, and the size information of the moving object may be represented by the outer edge polygon of the moving object. That is, the shape of the moving object is not limited in the embodiments of the present application, and for example, the shape of the moving object may be expressed as an arbitrary polygon.

Next, the principle of the route planning method according to the embodiment of the present application will be explained by taking the shapes of the moving object (shape 1 and shape 2) shown in the

above cases

1 and 2 as an example. Similar analysis can be done for other polygonal shaped moving objects.

Analysis of turning condition of line segment passing through right angle

It should be noted that the moving object has a certain length and width, and here, the width of the moving object is not considered, the moving object is regarded as a line segment, and the condition that the line segment turns at a right angle is analyzed, and further, the width of the moving object is considered, and the condition that the moving object with a certain width turns at a right angle is analyzed.

As shown in fig. 2, the two sides of the outer right-angle turn of the right-angle turn are defined as the x-axis and the y-axis, respectively, and the inner right-angle turn is shown as a thin dashed line, and the discussion of "how to determine the inner right-angle turn so that the right-angle turn takes up the least space" is discussed assuming that the inner right-angle turn is pending. In the case of minimizing the occupied space of the right-angle turn, the planned path also minimizes the occupied space of the moving object when the moving object moves, and the two paths are essentially the same.

If a line segment (thick line segment in FIG. 2) needs to be moved from pose A (x)_a,y_a,θ_a) Adjusted to pose C (x)_c,y_c,θ_c) I.e. by right-angled turns, the line segments are necessarily continuously oriented from theta_aChange to theta_cTherefore, the pose B (x) is inevitably passed through_b,y_b,θ_b) Corresponding attitude θ_b(the two vertexes of the line segment are on the two rays of the outer quarter bend in pose B). That is explained below at an attitude of θ_bAnd the occupied space of the pose B is the minimum.

If the line segment is in the attitude theta_bThe position of the right-angle turn is the right side of the pose B (as shown by the dashed line inclined at the right side of the pose B in FIG. 2), and it is easy to know that the space occupied by the right-angle turn is certainly larger than that occupied when the right-angle turn is in the pose B. If the line segment is located on the left side of the pose B (as shown by the dashed line inclined at the left side of the pose B in fig. 2), the line segment will intersect and collide with the outer quarter bend, and cannot pass through. Therefore, it can be concluded that "if the attitude of the line segment is θ_bWhen the right-angle bend is required to pass through, the optimal position of the occupied space is (x)_b,y_b) I.e. the two end points of the line segment are on the outer quarter bend ".

Because the line segment will pass through theta continuously from pose A to pose C_aTo theta_cAnd in each posture, the two end points of the line segment occupy the optimal space when being positioned on the two rays of the outer right-angle bend. Thus, it is necessary to keep the two end points of the line segment always on the two rays of the right angle bend as the line segment passes through the right angle bend. In another manner of understanding: if the y axis is taken as a wall surface and the x axis is taken as a ground surface, the occupied space of the line segment sliding to the ground surface along the wall surface is the minimum, and the line segment is named as a 'gliding line segment'. In the embodiments of the present application, the glide segment is also referred to as a glide segment.

Analysis of line segment center track of line segment turning through right angle

As shown in fig. 3, by theorem: the central line of the hypotenuse of the right triangle is equal to half of the hypotenuse, and it can be known that the central trajectory of the line segment in the whole turning process with the smallest occupied space takes the inflection point O of the outer right-angled turn as the center of a circle and r is a circle with a radius (the length of the line segment passing through the right-angled turn is 2 r). And the locus (x, y) of the center of the line segment and the attitude θ of the line segment can be expressed as shown in formula (1) and formula (2) under the coordinate system shown in fig. 3 by geometric analysis:

minimum turn spatial analysis for a line segment turning at right angles

Firstly, defining the space size of the right angle bend as follows: "the distance between the apex OF the outside right angle bend and the apex OF the inside right angle bend, as shown by OE, OF, OH in FIG. 4". It should be noted that the space size defined herein does not represent the size of the space area, and the definition is only made here for the purpose of discussing space optimality).

As shown in fig. 4, when the line segment is in a certain posture θ (assuming that θ ≠ 45 °), an inner quarter turn that minimizes the occupied space is obtained, so that the line segment is in the inner and outer quarter turns (i.e. the line segment can pass through). As shown, the line segment and the outer quarter turn form a right triangle Δ OAB. The direction of the two rays of the inside quarter bend is consistent with the direction of the outside quarter bend, so that the inside quarter bend can be uniquely determined by only determining the vertex of the inside quarter bend.

When the vertex of the inside quarter turn is not on the line segment AB, such as the vertex H of the inside quarter turn 1 in fig. 4 (it is known that the point H must be outside of Δ OAB, otherwise if the vertex of the inside quarter turn is inside of Δ OAB, the inside quarter turn and the line segment AB will have an intersection point, i.e., the line segment cannot turn through the quarter turn). At this time, connecting OH to point E, making an inside quarter bend 2 with point E as the vertex, it is known that OE < OH, i.e. inside quarter bend 2 occupies less space than inside quarter bend 1. Therefore, it is concluded that "the vertex of the inner quarter turn that occupies the least space must be above the line segment", and it is easy to know by analysis that "all vertices on the inner quarter turn of the line segment can guarantee that the line segment is inside the inner and outer quarter turns, i.e. that the line segment can turn through the quarter turn".

Therefore, the inside quarter turn with the point closest to the point O among all the points on the line segment AB as the vertex is the inside quarter turn in the posture θ that ensures the space of the line segment in the quarter turn is optimal. The perpendicular line passing through the O point to make AB is crossed with AB at the point F, the F is taken as the vertex to make the inner right-angle bend 3, the right-angle bend consisting OF the outer right-angle bend and the inner right-angle bend 3 is the right-angle bend with the minimum space occupation, the space size OF the right-angle bend is OF, namely d shown in figure 4₂. It can be concluded so far that: when the line segment is in a certain posture theta, the perpendicular line of the line segment is drawn through the O point, and the minimum occupied space can be ensured by taking the perpendicular point as the inner right-angled bend of the vertex.

If the line segment is in a posture such that Δ OAB is not an isosceles right triangle, point F is not the midpoint of AB, and if the midpoint is E, the length d of OE is easily known₁＝r，d₂<And r, namely the optimal size of the right-angle bend space in the posture is smaller than r.

As shown in fig. 5, when the line segment is positioned such that Δ OAB is an isosceles right triangle, it is known that the vertex of the inner right-angle bend corresponding to the smallest right-angle bend space at this time is on the midpoint E of the line segment AB, and the smallest right-angle bend space has a size of r.

From the above, it can be ensured that all the line segments moving from the pose a to the pose C can be turned by the right angle turn as shown in fig. 3, the minimum space size of the right angle turn is r, and the optimal right angle turn is the right angle turn shown in fig. 5.

FIG. 6 is a schematic representation of a 2r line segment passing through the area (shown shaded) swept during a right angle turn as shown in FIG. 5, with a side length of

The square of (a) indicates that the space size of the right angle turn is r, and it can be seen that the line segment is positioned inside the right angle turn in the whole turning process.

Analysis of the turning of the shape 1 of the moving object through a straight angle

From the above analysis, it can be seen that to ensure minimum space usage, it is necessary to ensure that the outer edge of the mobile object is somewhat on both sides of the outer quarter bend, i.e. the mobile object is against the outer quarter bend.

The length of the moving object is L and the width is W, and in fig. 6, in consideration of the width of the moving object in the case of the shape 1, a schematic diagram of the moving object turning at right angles as shown in fig. 7 is obtained, and the end point of the outer edge AB of the moving object is always on the outer right angle, and it is easy to know that the minimum right angle space size satisfying the moving object passing is 0.5 × L + W.

As shown in FIG. 8, a rectangular moving object with a length L and a width W turns at right angles to have a side length

The hatched area in fig. 8 is the area swept by the moving object, and it can be seen that the moving object is inside the right-angle turn in the whole process.

Analysis of the situation of turning of the shape 2 of the moving object through a right angle

The moving object is represented by a rectangle 1 and a rectangle 2, the length of the rectangle 1 is L1, the width of the rectangle is W1, the length of the rectangle 2 is L2, and the width of the rectangle 2 is W2, and in consideration of the shape of the moving object, a schematic diagram of the moving object turning through straight corners as shown in fig. 9 is obtained in fig. 6, and it is apparent that the minimum size of a right-angled space satisfying the passage of the moving object is 0.5 × (L1+ W1+ W2).

The moving object shape 2 is different from the shape 1 in that the moving object of the shape 1 slides along one slide line segment when turning at right angles, and the moving object of the shape 2 does not slide along any slide line segment when turning at right angles. As shown in fig. 10, the moving object of shape 2 slides along the slide line segment AB (non-real line segment) from position 1 to position 2, slides along the slide line segment BC from position 2 to position 3, and slides along the slide line segment CD from position 3 to position 4.

FIG. 11 is a view showing that the shape 2 of the moving object is turned at right angles to have a side length

The hatched area in fig. 11 is the area swept by the moving object, and it can be seen that the moving object is inside the right-angle turn during the whole moving process.

The principle of the path planning method according to the embodiment of the present application is described above by taking the moving object as the shape 1 and the shape 2 as an example, and it is understood that the embodiment of the present application can determine the minimum right angle space size that the moving object can pass through by moving the moving object along the outer right angle bend. In addition, along with the movement of any point (such as the central point of the moving object) on the moving object in the moving process of the moving object, a track line drawn by any point on the moving object can be obtained, and the track line is used as the path of the drawn moving object at the right-angle corner, so that the space occupied by the moving object in the moving process is minimum. It is worth noting that for other moving objects with irregular shapes, an outer edge polygon can be determined to represent the shape of the moving object, based on the determined outer edge polygon, the planned path of the moving object is determined according to the path planning method provided by the embodiment of the application, and the scheme can be applied to plan the right-angle turn which meets the requirement of the moving object that the occupied space is the minimum.

The following explains the path planning method provided in the embodiment of the present application in detail.

It should be noted that the path planning method provided in the embodiment of the present application may be executed by any computer device, and after obtaining the planned path, the computer device sends the planned path to the mobile robot, and the mobile robot turns through a right angle according to the planned path. Optionally, the computer device is a server or other device with processing capability, and the embodiment of the present application is not limited to a specific form of the computer device. Of course, in some embodiments, if the mobile robot has sufficient processing capability, the mobile robot may also perform the path planning method, which is not limited in the embodiments of the present application.

Fig. 12 is a flowchart of a path planning method according to an embodiment of the present application. Referring to fig. 12, a path planning method in a case where both the shape and size of a moving object and a right-angle turn are determined will be described, and referring to fig. 12, the method includes the following steps.

Step 1201: and determining the starting pose and the ending pose of the moving object at the reference outer right-angle bend according to starting and ending pose setting conditions, wherein the starting and ending pose setting conditions comprise that the moving object is in contact with the reference outer right-angle bend and at least two contact points exist when the moving object is in the starting pose and the ending pose.

In the embodiment of the present application, based on the foregoing theoretical analysis, it is necessary to determine the starting pose and the ending pose of the moving object at the reference outside right-angle bend according to the starting-ending pose setting conditions. Wherein the start-stop pose setting condition includes that the moving object is in contact with the reference outside quarter bend and at least two contact points exist when the moving object is in the start pose and the end pose. For example, at least one edge of the outer edge polygon of the moving object contacts the reference outer quarter bend, or at least two vertices of the outer edge polygon of the moving object contact the reference outer quarter bend, in which case the moving object contacts the reference outer quarter bend and there are at least two contact points. Wherein the reference outside right-angle turn is obtained from the right-angle turn that the moving object is going to pass through (i.e. actually needed to pass through).

Alternatively, before determining the starting pose and the ending pose of the moving object, it is necessary to determine the outer edge polygons of the moving object, such as, but not limited to, the moving object shape 1 and the moving object shape 2 described above, and the moving object shape may be another polygonal shape. After the out-edge polygon of the moving object is determined, the start and end poses of the moving object are determined in accordance with the start and end pose setting conditions and the out-edge polygon of the moving object such that the moving object contacts the reference outside quarter bend in a state where the moving object is in the start and end poses and there are at least two contact points, for example, at least one side of the out-edge polygon of the moving object contacts the reference outside quarter bend.

It should be noted that, considering the safety problem of the moving object during the moving process, it is necessary to ensure that the moving object is as far away from the right-angle turn to be passed through during the moving process as possible, and based on the theoretical analysis, in the method of planning the path of the moving object at the right-angle turn, the moving object needs to be moved along the outer right-angle turn, and therefore, a reference outer right-angle turn needs to be determined based on the right-angle turn to be passed through by the moving object. Based on the reference outside quarter bend, a start pose and an end pose of the moving object are determined so that the moving object contacts the reference outside quarter bend in both the states of the start pose and the end pose, and there are at least two contact points.

Optionally, one side of the reference outside quarter turn is parallel to and at a safe distance from one side of the first outside quarter turn, the other side of the reference outside quarter turn is parallel to and at a safe distance from the other side of the first outside quarter turn, the reference outside quarter turn is between the first outside quarter turn and the first inside quarter turn, and the first outside quarter turn and the first inside quarter turn respectively represent an outside quarter turn and an inside quarter turn of the quarter turn through which the moving object is to pass. That is, the reference outside quarter turn is determined according to the safety distance.

Alternatively, one implementation of determining the reference outside quarter turn based on the quarter turn that the moving object is going to pass through is: and according to the safety distance, moving the two sides of the first outer right-angled bend to the directions close to the two sides of the first inner right-angled bend respectively to obtain a reference outer right-angled bend. Wherein the safe distance is a preset and stored numerical value, such as 30cm (centimeter), 40cm, etc.

Exemplarily, assuming that the safety distance is d, the right-angle turn to be passed by the moving object includes a first outer right-angle turn and a first inner right-angle turn, two sides of the first outer right-angle turn are respectively parallel to and point the same as the x-axis and the y-axis shown in fig. 2, and the first outer right-angle turn is moved to the right and the upper side by the distance d, respectively, to obtain a reference outer right-angle turn.

It should be noted that in some embodiments, the moving object may also move along the outer quarter bend of the quarter bend that actually needs to be passed, corresponding to the above-mentioned safety distance being 0, in which case the reference outer quarter bend is the same as the first outer quarter bend.

After the reference outside quarter turn is determined, the starting pose and the ending pose of the moving object at the reference outside quarter turn are determined according to the starting pose setting conditions, so that the moving object is in contact with the reference outside quarter turn in the states of the starting pose and the ending pose and at least two contact points exist, for example, the outer edge of the moving object is in contact with two sides of the reference outside quarter turn.

Illustratively, assuming that the moving object is represented by shape 1 shown in fig. 1 with reference to the x-axis and y-axis of the outer quarter bend shown in fig. 7, and the outer edge polygon of the moving object includes outer edge 1, outer edge 2, outer edge 3, and outer edge 4 shown in fig. 7, the moving object is determined as the starting position of the moving object in the state where outer edge 1 (length L) contacts the y-axis and outer edge 2 (length W) contacts the x-axis, and the moving object is determined as the ending position of the moving object in the state where outer edge 1 contacts the x-axis and outer edge 4 (length W) contacts the y-axis. Assuming that the moving object is represented by shape 2 shown in fig. 1 with reference to the x-axis and y-axis of the outer quarter bend shown in fig. 9 and the outer edge polygon of the moving object includes outer edge 1, outer edge 2, outer edge 3, etc. shown in fig. 9, the moving object is determined to be the starting attitude of the moving object in the state where outer edge 1 (length L2) contacts the y-axis and outer edge 2 (length W1) contacts the x-axis, and the moving object is determined to be the ending attitude of the moving object in the state where outer edge 1 contacts the x-axis and outer edge 3 (length W1) contacts the y-axis.

Optionally, in this embodiment of the application, considering that the moving object needs to move on the path segment connected to the right-angle turn in practice, the start-stop pose setting condition further includes: the mobile object can reach the right angle turn through the first path segment in a pose of the starting pose, and the mobile object can pass through the second path segment in a pose of the ending pose. The first path section is a path section connected with the head end of the right-angle turn, and the second path section is a path section connected with the tail end of the right-angle turn.

Illustratively, a first path segment and a second path segment which are connected with a right-angle turn end to end are obtained, a moving object is made to move on the first path segment in a posture which is the same as the starting pose, if the moving object does not collide with an obstacle (such as a wall surface) in the moving process and can reach the starting pose at the right-angle turn, the moving object can safely reach the right-angle turn through the first path segment in the posture of the starting pose, and then the starting pose of the moving object is determined to meet the starting and stopping pose setting conditions. And similarly, the mobile object is made to move on the second path segment in the same posture as the termination posture, and if the mobile object does not collide with the obstacle during the moving process, which indicates that the mobile object can safely pass through the second path segment in the posture of the termination posture, the termination posture of the mobile object is determined to meet the setting condition of the start-stop posture. That is, the moving object can safely reach a right angle turn on an upper segment of the path before the starting pose, and the moving object can continue to safely pass through a next segment of the path after the ending pose.

Step 1202: and simulating the process of moving the moving object from the starting pose to the ending pose along the reference outer right-angle bend, and determining the planned path of the moving object at the right-angle bend according to the curve drawn by any point on the moving object in the process.

In the embodiment of the application, after the starting pose and the ending pose of the moving object are determined, the process that the moving object moves from the starting pose to the ending pose along the reference outer right-angle bend is simulated, and the planned path of the moving object at the right-angle bend is determined according to the curve drawn by any point on the moving object in the process. That is, the path of the moving object at the right-angle turn is planned by simulating the process of moving the moving object against the reference outside right-angle turn. Optionally, in this embodiment of the present application, any point on the moving object is referred to as a mark point of the moving object, in other words, the mark point of the moving object is any point on the moving object. For example, the mark point of the moving object is the center point of the moving object, and the position of the center point of the moving object represents the position of the moving object. In other embodiments, a point other than the moving object may be used as a mark point of the moving object, and the planned path of the moving object at the right-angle turn may be determined according to a curve drawn by the mark point of the moving object in the simulation process.

One implementation of step 1202 is next described by steps 12021 through 12024 shown in fig. 13.

Step 12021: and taking the starting pose as the current pose of the moving object.

That is, in the present embodiment, the simulation process starts from a state in which the moving object is in the starting pose.

Step 12022: a simulation operation is performed.

Referring to fig. 13, in the embodiment of the present application, the simulation operation in step 12022 includes

steps

2201 and 2202 described below.

Step 2201: and taking a line segment formed by two end points which are contacted with the reference outer right-angle bend when the moving object is in the current pose as a sliding line segment corresponding to the current pose.

In the embodiment of the present application, first, the moving object is placed in a state of a start pose, where the current pose of the moving object is different from an end pose, and then a line segment formed by two end points where the moving object is in contact with the reference outer quarter bend in this state is taken as a sliding line segment corresponding to the current pose.

Illustratively, in the state where the moving object of shape 1 is in the starting pose, the sliding line segment corresponding to the current pose of the moving object is line segment AB (i.e., outer edge 1) as shown in fig. 7, and the sliding line segment AB is attached to the y-axis in this state. In the state where the moving object of shape 2 is in the posture 1 as shown in fig. 10, the slide line segment corresponding to the current posture of the moving object is the line segment AB shown in fig. 10.

Step 2202: the method comprises the steps of simulating sliding of the moving object from the current pose to the next state in a mode that two end points of a sliding line segment slide along a reference outer right-angled bend, using a curve drawn by any point on the moving object in the sliding process as a trajectory line corresponding to the sliding line segment, using the posture change of the moving object in the sliding process as the posture change of an upward moving object on the trajectory line, and using the next state as the state when the moving object slides to the state that the end point contacted with the reference outer right-angled bend changes.

In the embodiment of the application, after the sliding line segment corresponding to the current pose is determined, a process of sliding the moving object based on the sliding line segment is simulated, and a curve drawn by any point (such as a central point) on the moving object is used as a trajectory line corresponding to the sliding line segment. That is, the method of sliding the two end points of the sliding line segment along the reference outer quarter bend is used to simulate the sliding of the moving object from the current pose to the next state, the curve drawn by any point on the moving object during the sliding process is used as the trajectory line corresponding to the sliding line segment, and the posture change of the moving object during the sliding process is used as the posture change of the moving object on the trajectory line. The next state is a state when the moving object slides to the end point contacting with the reference outer right-angle bend and changes, namely the sliding line section changes in the state.

From the foregoing theoretical analysis, it can be seen that, for a moving object of shape 1, as the moving object moves along the reference outer quarter bend, the sliding line segment is unchanged, and the moving object can move from the starting pose to the ending pose based on the sliding line segment, that is, the current pose of the moving object can be updated to be the same as the ending pose through a sliding process. For the moving object of shape 2, as shown in fig. 10, the sliding line segment changes as the moving object moves along the reference outer quarter bend, and the current pose of the moving object can be updated to be the same as the termination pose through a plurality of sliding processes corresponding to the plurality of sliding line segments. The change in the sliding line segment is caused by a change in the end point of the contact of the moving object with the reference outer quarter bend during sliding.

For example, for the moving object of shape 1 shown in fig. 7, the sliding line segment is unchanged, the current pose is the same as the starting pose, the next state of the current pose is the state in which the moving object is in the ending pose, and the curve drawn by any point on the moving object in the process of sliding from the current pose to the next state is taken as the trajectory line corresponding to the sliding line segment.

For the moving object of shape 2 shown in fig. 10, when the current pose is the same as the starting pose, the next state of the current pose is the state of pose 2 in fig. 10, the next state of pose 2 is the state of pose 3, and the next state of pose 3 is the state of pose 4. And taking a curve drawn by any point on the moving object in the process of sliding from the current pose to the next state as a trajectory line corresponding to the sliding line segment, so that three trajectory lines can be obtained in total, and the three trajectory lines are sequentially connected end to end.

It should be noted that, in the embodiment of the present application, while obtaining the trajectory line corresponding to the sliding line segment, the posture change of the moving object in the sliding process can also be used as the posture change of the moving object moving on the trajectory line, that is, the posture change of the moving object moving on the trajectory line can also be obtained. Illustratively, the trajectory line may be formulated as a function of position (x, y), the attitude change may be formulated as a function of attitude θ, the attitude change may also be formulated as a tangent function of the trajectory line, or may be formulated in other forms. Alternatively, the posture change of the moving object on the trajectory line and the trajectory line may be expressed by a functional formula with respect to the posture (x, y, θ). That is, in the embodiment of the present application, based on the sliding process, the pose of the moving object when moving on the trajectory line, including the position and the pose on the trajectory line, can be obtained.

Step 12023: and if the pose corresponding to the next state is the same as the termination pose, obtaining a planning path, wherein the planning path comprises a set of trajectory lines corresponding to different sliding line segments in the simulation process and the posture change of the moving object on each trajectory line in the set of trajectory lines.

In the embodiment of the application, after the trajectory lines corresponding to the sliding line segments are obtained, if the pose corresponding to the next state is the same as the termination pose, all trajectory lines obtained in the sliding process from the starting pose to the termination pose can be sequentially connected to obtain all path segments included in the planned path of the moving object.

Optionally, the pose change of the animal on all the trajectory lines is taken as the pose change of the animal on the planned path. That is, the obtained planned path of the moving object not only includes the trajectory line, but also includes the pose of the moving object on the planned path, that is, the path can be planned, and the pose of the moving object when moving on the planned path can also be planned.

Step 12024: if the pose corresponding to the next state is different from the end pose, the current pose is updated to the pose corresponding to the next state, and the simulation operation of step 12022 is executed.

That is, if the state that the moving object is in the ending pose is not simulated, the current pose is updated, and then the simulation operation is continuously executed until the pose of the next state is the same as the ending pose, and the simulation operation is completed to obtain the planned path.

The path drawn by the method can ensure that the moving object does not collide with the outer right-angle bend of the right-angle bend when moving at the right-angle bend. Alternatively, considering that the moving object cannot collide with the inner quarter turn of the quarter turn while moving, based on this, it is also necessary to determine whether or not the trajectory line satisfies the moving condition for causing the moving object not to collide with the reference outer quarter turn nor with the reference inner quarter turn while determining the trajectory line. It should be noted that the reference outer right-angle turn corresponds to the reference inner right-angle turn, and the reference inner right-angle turn is obtained according to the right-angle turn through which the moving object will pass.

Optionally, one side of the reference inner quarter bend is parallel to and a safe distance from one side of the first inner quarter bend, the other side of the reference inner quarter bend is parallel to and a safe distance from the other side of the first inner quarter bend, and the reference inner quarter bend is between the first inner quarter bend and the first outer quarter bend. Wherein the first outside quarter turn and the first inside quarter turn represent an outside quarter turn and an inside quarter turn, respectively, of the quarter turn through which the moving object is to pass. That is, based on safety considerations, prior to determining the planned path of the moving object at the right angle turn, a reference inside right angle turn is also determined in a similar manner as the reference outside right angle turn. For example, the reference inside quarter bend is obtained by moving the two sides of the first inside quarter bend in directions closer to the two sides of the first outside quarter bend, respectively, according to the safety distance. Optionally, the safety distance between the reference outside quarter turn and the first outside quarter turn is the same or different than the safety distance between the reference outside quarter turn and the first outside quarter turn.

It should be noted that in some embodiments, the reference inside quarter turn is the same as the first inside quarter turn, corresponding to a safety distance of 0 between the reference outside quarter turn and the first outside quarter turn, in which case the moving object may stick to the inside quarter turn of the quarter turn during the actual passage of the quarter turn.

After the reference inner right-angle bend is determined, in order to judge whether the trajectory line meets the movement condition, that is, in order to enable the moving object not to collide with the reference outer right-angle bend and not to collide with the reference inner right-angle bend in the moving process, optionally, after a curve drawn at any point on the moving object in the sliding process is taken as the trajectory line corresponding to the sliding line segment, according to the size information of the moving object, calculating an area swept by the moving object in the sliding process to obtain a movement coverage area corresponding to the trajectory line, and if the movement coverage area does not exceed the area between the reference inner right-angle bend and the reference outer right-angle bend, determining that the trajectory line meets the movement condition. The planned path is obtained under the condition that the trajectory line corresponding to each sliding line segment meets the moving condition.

That is, each time one trajectory line is obtained, it is determined whether the trajectory line can be executed, that is, it is determined whether the moving object collides with the reference inner quarter bend during the moving (moving against the reference outer quarter bend, and changing the pose synchronously) along the trajectory line. If the trajectory can be executed, it is determined whether the pose corresponding to the next state is the same as the end pose. If the trajectory line is not executable, it is determined that the path planning fails and the mobile object cannot safely pass through the right angle turn because the path determined by the trajectory line is already the optimal path based on the theoretical analysis, and therefore, if the trajectory line cannot pass through, the right angle turn cannot necessarily pass through.

Optionally, after determining that the pose corresponding to the next state is the same as the termination pose, and obtaining the planned path, according to the size information of the moving object, calculating an area swept by the moving object in the process of moving from the start pose to the termination pose along the planned path along the reference outer right-angled bend, and obtaining a moving coverage area corresponding to the planned path. And if the moving coverage area corresponding to the planned path does not exceed the area between the reference inner right-angle bend and the reference outer right-angle bend, determining that the planned path meets the moving condition, namely that all trajectory lines in the planned path meet the moving condition. And if the moving coverage area corresponding to the planned path exceeds the area between the reference inner right-angle bend and the reference outer right-angle bend, determining that the planning fails.

Next, referring to fig. 14, a path planning method provided in the embodiment of the present application will be explained again. Fig. 14 is a flowchart of another path planning method provided in the embodiment of the present application, and referring to fig. 14, the method includes the following steps:

1. the outer edge polygons of the moving object, such as shape 1 and shape 2, are determined.

2. A reference inside and outside quarter turn (a reference inside quarter turn and a reference outside quarter turn) is determined based on the actual quarter turn. The step 1 and the step 2 are not in sequence.

3. And determining the starting pose and the ending pose of the moving object according to the starting pose and the ending pose setting rules, so that the edge of the moving object contacts the reference outer right-angled bend, and the moving object is placed in the starting pose.

4. And determining a corresponding sliding line segment in the current pose, namely determining a line segment consisting of two end points contacted when the moving object is attached to the reference outer right-angled bend.

5. And determining the track line corresponding to the downslide section and the moving posture of the moving object moving along the track line, namely the track comprises a position and a posture.

6. Whether the trajectory line can be executed or not is judged, namely whether the moving coverage of the moving object exceeds the area between the reference inner right-angle bend and the reference outer right-angle bend or not in the process that the moving object moves along the trajectory line along the reference outer right-angle bend is judged, namely whether the moving object does not collide with the reference inner right-angle bend or not is judged. If the trajectory cannot be executed, a planning failure is determined, suggesting an inability to safely negotiate the right angle turn.

7. If the trajectory line can be executed, the moving object is adjusted to the terminal end of the trajectory line, and whether the termination pose is reached is judged. And if the ending pose is not reached, returning to the step 4, namely continuously acquiring the next sliding line segment to plan the next section of track until the ending pose is reached.

The path planning method in the case where both the shape and size of the moving object and the right-angle turn are determined is described above with reference to fig. 12 to 14, that is, the application of the present solution to the first aspect is described. As can be seen from the foregoing theoretical analysis, the application of the solution in the second aspect is the same as the application of the first aspect in nature, that is, in the case that the size of the moving object is determined, the right-angle turn that occupies the minimum space and satisfies the passing of the moving object can be planned by applying the solution, and the path of the moving object in the planned right-angle turn can be planned.

In the embodiment of the present application, one implementation manner of planning the right-angle turn with the least occupied space is as follows: and determining the starting pose and the ending pose of the moving object at the reference outer right-angle bend according to the starting pose and the ending pose setting conditions by regarding the reference outer right-angle bend as a reference outer right-angle bend obtained according to the right-angle bend to be planned. According to the dimension information of the moving object, a curve drawn by any point on the moving object in the process that the moving object moves from the starting position to the ending position along the reference outer right-angle bend is simulated, the size of the minimum right-angle bend space when the moving object moves along the planned path is determined, and the right-angle bend is planned according to the size of the minimum right-angle bend space. In addition, in the process of simulating the moving object to move from the starting pose to the ending pose along the reference outer right-angle bend, the curve drawn by any point on the moving object is determined, and the planned path of the moving object at the planned right-angle bend is determined.

Wherein, according to minimum quarter turn space size, plan out a realization mode that the quarter turn was turned: and determining a reference inner right-angle bend according to the minimum right-angle bend space size and the reference outer right-angle bend. And according to the safety distance, respectively moving the two sides of the reference outer right-angled bend to the direction far away from the two sides of the reference inner right-angled bend to obtain the planned outer right-angled bend. And according to the safety distance, moving the two sides of the reference inner right-angled bend to the direction far away from the two sides of the reference outer right-angled bend respectively to obtain the planned inner right-angled bend.

Illustratively, for a shape 1 moving object, the determined minimum quarter bend space size is as shown in fig. 7, the determined reference inner quarter bend vertex is located at point E, and assuming the safe distance d, the reference outer quarter bend in fig. 5 is moved to the left and down by distance d, respectively, resulting in a planned outer quarter bend. The reference inside quarter bend in fig. 5 is moved a distance d to the right and upwards, respectively, resulting in a planned inside quarter bend. In this way, right-angled turns are planned that meet the safety margin and take minimal space.

In summary, in the embodiment of the present application, a path through which the moving object can pass at the right-angled corner is planned by simulating the process of moving the moving object along the reference outer right-angled corner, so that a smaller turning space occupied by the moving object in the moving process can be planned, and thus the moving object is not likely to collide with the obstacle, and the safety is improved.

All the above optional technical solutions can be combined arbitrarily to form an optional embodiment of the present application, and the present application embodiment is not described in detail again.

Fig. 15 is a schematic structural diagram of a path planning apparatus provided in an embodiment of the present application, where the path planning apparatus 1500 may be implemented as part or all of a computer device by software, hardware, or a combination of the software and the hardware. Referring to fig. 15, the apparatus 1500 includes: a start-stop pose determination module 1501 and a path planning module 1502.

A start-stop pose determining module 1501, configured to determine a start pose and an end pose of the moving object at the reference outside right-angle bend according to start-stop pose setting conditions, where the start-stop pose setting conditions include that the moving object is in contact with the reference outside right-angle bend and at least two contact points exist when the moving object is in the start pose and the end pose;

and the path planning module 1502 is used for simulating the process that the moving object moves from the starting pose to the ending pose along the reference outer right-angle bend, and determining the planned path of the moving object at the right-angle bend according to the curve drawn by any point on the moving object in the process.

Optionally, one side of the reference outside quarter turn is parallel to and at a safe distance from one side of the first outside quarter turn, the other side of the reference outside quarter turn is parallel to and at a safe distance from the other side of the first outside quarter turn, the reference outside quarter turn is between the first outside quarter turn and the first inside quarter turn, and the first outside quarter turn and the first inside quarter turn respectively represent an outside quarter turn and an inside quarter turn of the quarter turn through which the moving object is to pass.

Optionally, the path planning module 1502 includes:

the current pose determining submodule is used for taking the starting pose as the current pose of the moving object;

a simulation submodule for performing simulation operations, the simulation operations including: taking a line segment formed by two end points of the moving object in the current pose and in contact with the reference outer right-angle bend as a sliding line segment corresponding to the current pose; simulating to slide the moving object from the current pose to the next state in a mode that two end points of the sliding line segment slide along the reference outer right-angled bend, taking a curve drawn by any point on the moving object in the sliding process as a trajectory line corresponding to the sliding line segment, and taking the posture change of the moving object in the sliding process as the posture change of the moving object moving on the trajectory line, wherein the next state is a state when the moving object slides to the end point contacted with the reference outer right-angled bend and changes;

the path determination submodule is used for obtaining a planned path if the pose corresponding to the next state is the same as the termination pose, wherein the planned path comprises a set of trajectory lines corresponding to different sliding line segments in the simulation process and the posture change of the moving object on each trajectory line in the set of trajectory lines;

and the current pose updating submodule is used for updating the current pose to the pose corresponding to the next state if the pose corresponding to the next state is different from the ending pose, and returning to execute the simulation operation.

Optionally, the reference outer quarter bend corresponds to one reference inner quarter bend, and the planned path is obtained when the trajectory lines corresponding to the sliding line segments all satisfy the moving condition;

the path planning module 1502 further includes:

and the executive judgment sub-module is used for determining that the trajectory line meets the movement condition if the movement coverage area does not exceed the area between the reference inner right-angle bend and the reference outer right-angle bend.

Optionally, one side of a reference inner quarter turn is parallel to and at a safety distance from one side of a first inner quarter turn, the other side of the reference inner quarter turn is parallel to and at a safety distance from the other side of the first inner quarter turn, the reference inner quarter turn is between the first inner quarter turn and a first outer quarter turn, the first outer quarter turn and the first inner quarter turn respectively representing an outer quarter turn and an inner quarter turn of a quarter turn through which the moving object is to pass.

Optionally, the start-stop pose setting condition further includes:

the moving object can reach the right-angle turn through a first path section in the posture of the starting pose, and the first path section is a path section connected with the head end of the right-angle turn;

the moving object can pass through the second path section in the pose ending posture, and the second path section is a path section connected with the tail end of the right-angle turning.

It should be noted that: the path planning apparatus provided in the foregoing embodiment is only illustrated by dividing the functional modules when planning a path, and in practical applications, the function distribution may be completed by different functional modules according to needs, that is, the internal structure of the apparatus is divided into different functional modules, so as to complete all or part of the functions described above. In addition, the path planning apparatus and the path planning method provided by the above embodiments belong to the same concept, and specific implementation processes thereof are described in the method embodiments for details, which are not described herein again.

FIG. 16 is a block diagram illustrating a computer device 1600 in accordance with an example embodiment. The computer device 1600 may be used to implement the functionality of the path planning method example described above. Specifically, the method comprises the following steps:

the computer device 1600 includes a Central Processing Unit (CPU)1601, a system memory 1604 including a Random Access Memory (RAM)1602 and a Read Only Memory (ROM)1603, and a system bus 1605 that connects the system memory 1604 and the central processing unit 1601. Computer device 1600 also includes a basic input/output system (I/O system) 1606, which facilitates transfer of information between various components within the computer, and a mass storage device 1607 for storing an operating system 1613, application programs 1614, and other program modules 1615.

The basic input/output system 1606 includes a display 1608 for displaying information and an input device 1609 such as a mouse, keyboard, etc. for user input of information. Wherein a display 1608 and an input device 1609 are connected to the central processing unit 1601 by way of an input-output controller 1610 which is connected to the system bus 1605. The basic input/output system 1606 may also include an input-output controller 1610 for receiving and processing input from a number of other devices, such as a keyboard, mouse, or electronic stylus. Similarly, input-output controller 1610 may also provide output to a display screen, a printer, or other type of output device.

The mass storage device 1607 is connected to the central processing unit 1601 by a mass storage controller (not shown) connected to the system bus 1605. The mass storage device 1607 and its associated computer-readable media provide non-volatile storage for the computer device 1600. That is, the mass storage device 1607 may include a computer-readable medium (not shown) such as a hard disk or CD-ROM drive.

Without loss of generality, computer readable media may comprise computer storage media and communication media. Computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. Computer storage media includes RAM, ROM, EPROM, EEPROM, flash memory or other solid state memory technology, CD-ROM, DVD, or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices. Of course, those skilled in the art will appreciate that computer storage media is not limited to the foregoing. The system memory 1604 and mass storage device 1607 described above may be collectively referred to as memory.

According to various embodiments of the present application, computer device 1600 may also operate as a remote computer connected to a network via a network, such as the Internet. That is, the computer device 1600 may be connected to the network 1612 through the network interface unit 1611 coupled to the system bus 1605, or may be connected to other types of networks or remote computer systems (not shown) using the network interface unit 1611.

The memory further includes one or more programs, and the one or more programs are stored in the memory and configured to be executed by the CPU. The one or more programs include instructions for performing the path planning method provided by the embodiments of the present application.

In some embodiments, a computer-readable storage medium is also provided, in which a computer program is stored, which, when being executed by a processor, carries out the steps of the path planning method in the above-mentioned embodiments. For example, the computer readable storage medium may be a ROM, a RAM, a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.

It is noted that the computer-readable storage medium referred to in the embodiments of the present application may be a non-volatile storage medium, in other words, a non-transitory storage medium.

It should be understood that all or part of the steps for implementing the above embodiments may be implemented by software, hardware, firmware or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. The computer instructions may be stored in the computer-readable storage medium described above.

That is, in some embodiments, there is also provided a computer program product containing instructions which, when run on a computer, cause the computer to perform the steps of the path planning method described above.

It is to be understood that reference herein to "at least one" means one or more and "a plurality" means two or more. In the description of the embodiments of the present application, "/" means "or" unless otherwise specified, for example, a/B may mean a or B; "and/or" herein is merely an association describing an associated object, and means that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, in order to facilitate clear description of technical solutions of the embodiments of the present application, in the embodiments of the present application, terms such as "first" and "second" are used to distinguish the same items or similar items having substantially the same functions and actions. Those skilled in the art will appreciate that the terms "first," "second," etc. do not denote any order or quantity, nor do the terms "first," "second," etc. denote any order or importance.

The above-mentioned embodiments are provided not to limit the present application, and any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A method of path planning, the method comprising:

2. The method of claim 1, wherein one side of the reference outside quarter turn is parallel to and a safe distance from one side of a first outside quarter turn, the other side of the reference outside quarter turn is parallel to and a safe distance from the other side of the first outside quarter turn, the reference outside quarter turn is between the first outside quarter turn and a first inside quarter turn, the first outside quarter turn and the first inside quarter turn respectively representing an outside quarter turn and an inside quarter turn of a quarter turn through which the moving object is to pass.

3. The method of claim 1, wherein the simulating the moving object moving from the starting position to the ending position against the reference outside quarter turn and determining the planned path of the moving object at the quarter turn based on a curve traced by any point on the moving object during the simulating comprises:

taking the starting pose as the current pose of the moving object;

4. The method of claim 3, wherein the reference outer quarter bend corresponds to a reference inner quarter bend, and the planned path is obtained when the trajectory line corresponding to each sliding line segment satisfies the moving condition;

5. The method of claim 4, wherein one side of the reference inner quarter turn is parallel to and a safe distance from one side of a first inner quarter turn, the other side of the reference inner quarter turn is parallel to and a safe distance from the other side of the first inner quarter turn, the reference inner quarter turn is between the first inner quarter turn and a first outer quarter turn, the first outer quarter turn and the first inner quarter turn respectively representing an outer quarter turn and an inner quarter turn of a quarter turn through which the moving object is to pass.

6. The method according to any one of claims 1 to 5, wherein the start-stop pose setting condition further includes:

7. A path planning apparatus, the apparatus comprising:

8. The apparatus of claim 7, wherein one side of the reference outside quarter turn is parallel to and a safe distance from one side of a first outside quarter turn, the other side of the reference outside quarter turn is parallel to and a safe distance from the other side of the first outside quarter turn, the reference outside quarter turn is between the first outside quarter turn and a first inside quarter turn, the first outside quarter turn and the first inside quarter turn respectively representing an outside quarter turn and an inside quarter turn of a quarter turn through which the moving object is to pass.

9. The apparatus of claim 7, wherein the path planning module comprises:

10. The apparatus of claim 9, wherein the reference outer quarter bend corresponds to a reference inner quarter bend, and the planned path is obtained when the trajectory line corresponding to each sliding line segment satisfies the moving condition;

the simulating operation further comprises:

11. The apparatus of claim 10, wherein one side of the reference inner quarter turn is parallel to and a safe distance from one side of a first inner quarter turn, the other side of the reference inner quarter turn is parallel to and a safe distance from the other side of the first inner quarter turn, the reference inner quarter turn is between the first inner quarter turn and a first outer quarter turn, the first outer quarter turn and the first inner quarter turn respectively representing an outer quarter turn and an inner quarter turn of a quarter turn through which the moving object is to pass.

12. The apparatus according to any one of claims 7 to 11, wherein the start-stop pose setting condition further includes:

13. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 6.