CN116430841A - Ground robot speed continuous obstacle avoidance track optimization method and system - Google Patents
Ground robot speed continuous obstacle avoidance track optimization method and system Download PDFInfo
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- G05D1/02—Control of position or course in two dimensions
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Abstract
A ground robot speed continuous obstacle avoidance track optimization method comprises the following steps: acquiring the current position and speed of the robot; selecting alternative switching points between the obstacle avoidance track and the global track of the robot; by RRT * Generating an alternative obstacle avoidance path by an algorithm; establishing a multipoint boundary condition vector of the obstacle avoidance track; calculating the path point time according to the set speed of the robot; establishing a multipoint boundary value problem for the alternative obstacle avoidance path, and optimizing the parameter of the alternative obstacle avoidance path; and comparing the performance of the alternative obstacle avoidance track, and selecting an optimal obstacle avoidance track. The invention further comprises a ground robot speed continuous obstacle avoidance track optimization system. According to the invention, the obstacle avoidance track optimization problem of the ground robot is converted into the track polynomial parameter optimization problem, and the speed continuity between the obstacle avoidance track and the global track is ensured by introducing the global track speed condition into the equivalent multi-boundary value problem. The method can be used for improving the smoothness of obstacle avoidance movement of the mobile robot and reducing abrupt changes of the speed and the direction of the robot in the obstacle avoidance process.
Description
Technical Field
The invention relates to a robot obstacle avoidance technology, in particular to a ground robot speed continuous obstacle avoidance track optimization method and system.
Background
Along with popularization of the robot technology in daily living environments, the obstacle avoidance technology for guiding the robot to avoid obstacles is widely applied and researched. The robot obstacle avoidance technology designs a movement route of the robot from the current position to avoid the obstacle to reach the target position based on the mutual relation among the position of the robot, the position of the obstacle and the target position. The robot obstacle avoidance method can be divided into two types, namely an obstacle avoidance method based on a motion direction and an obstacle avoidance method based on a motion track.
The obstacle avoidance method based on the motion direction comprises an artificial potential field method, a vector field histogram method and the like. Such a method only changes the moving direction of the robot, and has poor continuity. In contrast, the motion trajectory-based methods include a dynamic window method, an Elastic Band method, and the like. The method realizes obstacle avoidance by changing the moving track of the robot in a period of time in the future, and has strong continuity. However, existing methods of this type still have limitations. The obstacle avoidance track generated by the dynamic window method is short and has poor flexibility, and the speed continuity of the obstacle avoidance track and the global track during switching cannot be ensured by the Elastic Band method.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a method for optimizing the continuous obstacle avoidance track of the ground robot.
The aim of the invention is realized by the following technical scheme: a ground robot speed continuous obstacle avoidance track optimization method comprises the following steps:
step one: and acquiring the current position and speed of the robot. Taking a departure point as an origin of a coordinate system to acquire a two-dimensional space position r of the ground robot at the current moment 0 ＝[x 0 ,y 0 ]And velocity vector
Step two: and selecting an alternative switching point between the obstacle avoidance track and the global track of the robot. Selecting a search grid number of n, and selecting n equally distributed discrete position points r on a global track of the rear section of the obstacle f,k Obtaining velocity vectors at discrete location points
Where k=1, …, n.
Step three: and generating an alternative obstacle avoidance path. For each alternative switching point in the second step, passing RRT * Algorithm generation r 0 To r f,k Two-dimensional path point r between 1,k ,r 2,k ,…,r N,k . Generating n alternative obstacle avoidance paths corresponding to the n alternative switching points. The number N of the path points contained in each path is defined by RRT * And (5) determining an algorithm.
Step four: and establishing a multipoint boundary condition vector corresponding to the obstacle avoidance track optimization problem. For each alternative obstacle avoidance path generated in the step three, the method is based on
Form vector b x And b y . Wherein, the liquid crystal display device comprises a liquid crystal display device,
step five: and calculating the path point time. Calculating the distance between the path points on each obstacle avoidance path according to the time sequence, calculating the transition time between the path points according to the travelling speed of the robot, and determining the time t of each path point based on the transition time 0 ,t 1 ,…,t N ,t f 。
Step six: and for each alternative obstacle avoidance path, converting the obstacle avoidance track optimization problem into a multipoint boundary value problem optimization solution. Vector sum optimization based on boundary conditionsOptimizing path point r by cost function 1,k ,r 2,k ,…,r N,k And (3) processing a speed vector of the robot, and further optimizing polynomial obstacle avoidance track parameters.
Step seven: and selecting the obstacle avoidance track with optimal performance from the n alternative obstacle avoidance tracks.
Further, the sixth step is implemented by the following steps:
(6.1) construction of vector τ 0 ＝[t 3 ,t 2 ,t,1] T ,τ 1 ＝[3t 2 ,2t,1,0] T And matrix A i ＝[τ 0 ,τ 1 ] T Where i=1, …, N. Construction of matrix
Where subscripts 0 and f are used to distinguish between time, i.e.,
(6.2) construction of a symmetric matrix
Where i=1, …, N. Building a blocking matrix
(6.3) construction of a permutation matrix C will b x Splitting into b x,free And b x,fixed Wherein
Building a blocking matrix
Wherein R is 1 Is an N-dimensional square matrix, R 4 Is an n+4 dimensional square matrix.
(6.4) for x-axis movement, the velocity of the intermediate waypoint is
The complete boundary value vector is +.>
The polynomial trajectory parameter of the x-axis motion is +.>
(6.5) repeating (6.4) for the y-direction movement to obtain the corresponding polynomial trajectory parameter p y 。
The invention also comprises a ground robot speed continuous obstacle avoidance track optimization system, which comprises:
the current position and speed acquisition module of the robot is used for acquiring the current position and speed of the robot;
the alternative switching point selection module is used for selecting alternative switching points between the obstacle avoidance track and the global track of the robot;
the alternative obstacle avoidance path generation module is used for generating an alternative obstacle avoidance path;
the multipoint boundary condition vector module is used for establishing multipoint boundary condition vectors corresponding to the obstacle avoidance track optimization problem;
the path point time calculation module is used for calculating path point time;
the optimization solving module is used for converting the obstacle avoidance track optimization problem into a multipoint boundary value problem optimization solution for each alternative obstacle avoidance path;
the optimal performance obstacle avoidance track selection module is used for selecting an optimal performance obstacle avoidance track from n alternative obstacle avoidance tracks.
The invention also comprises a computer readable storage medium, wherein a program is stored on the computer readable storage medium, and when the program is executed by a processor, the method for optimizing the continuous obstacle avoidance track of the ground robot speed is realized. According to the invention, the obstacle avoidance track optimization problem of the ground robot is converted into the track polynomial parameter optimization problem, and the speed continuity between the obstacle avoidance track and the global track is ensured by introducing the global track speed condition into the equivalent multi-boundary value problem.
The invention has the advantages that: the smoothness degree of obstacle avoidance movement of the mobile robot can be improved, and abrupt changes of the speed and the direction of the robot in the obstacle avoidance process are reduced.
Drawings
Fig. 1 is a flow chart of the method of the present invention.
Fig. 2 is a flow chart of step six of the method of the present invention.
Fig. 3 is a schematic diagram of the system of the present invention.
Fig. 4 is a flow chart of the matrix T partitioning in step six (6.3) of the method of the present invention.
Fig. 5 is a flow chart of a parameterized trajectory representation of the method of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The features of the following examples and embodiments may be combined with each other without any conflict.
Fig. 1 is a schematic flow chart of a method for optimizing a continuous obstacle avoidance trajectory of a ground robot according to an embodiment of the present invention. As shown in fig. 1, a method for optimizing a speed continuous obstacle avoidance trajectory of a ground robot according to an embodiment of the present invention may include the following steps:
step one: and acquiring the current position and speed of the robot. Taking a departure point as an origin of a coordinate system to acquire a two-dimensional space position r of the ground robot at the current moment 0 ＝[x 0 ,y 0 ]And velocity vector
Step two: and selecting an alternative switching point between the obstacle avoidance track and the global track of the robot. Selecting a search grid number of n, and selecting n equally distributed discrete position points r on a global track of the rear section of the obstacle f,k Obtaining velocity vectors at discrete location points
Where k=1, …, n.
Step three: and generating an alternative obstacle avoidance path. For each alternative switching point in the second step, passing RRT * Algorithm generation r 0 To r f,k Two-dimensional path point r between 1,k ,r 2,k ,…,r N,k . Generating n alternative obstacle avoidance paths corresponding to the n alternative switching points. The number N of the path points contained in each path is defined by RRT * And (5) determining an algorithm.
Step four: and establishing a multipoint boundary condition vector corresponding to the obstacle avoidance track optimization problem. For each alternative obstacle avoidance path generated in the step three, the method is based on
Form vector b x And b y . Wherein, the liquid crystal display device comprises a liquid crystal display device,
step five: and calculating the path point time. Calculating the distance between the path points on each obstacle avoidance path according to the time sequence, calculating the transition time between the path points according to the travelling speed of the robot, and determining the time t of each path point based on the transition time 0 ,t 1 ,…,t N ,t f 。
Step six: and for each alternative obstacle avoidance path, converting the obstacle avoidance track optimization problem into a multipoint boundary value problem optimization solution. According to boundary condition vectorsAnd optimizing the path point r of the cost function 1,k ,r 2,k ,…,r N,k And (3) processing a speed vector of the robot, and further optimizing polynomial obstacle avoidance track parameters.
Step seven: and selecting the obstacle avoidance track with optimal performance from the n alternative obstacle avoidance tracks.
Further, the sixth step is implemented by the following steps:
(6.1) construction of vector τ 0 ＝[t 3 ,t 2 ,t,1] T ,τ 1 ＝[3t 2 ,2t,1,0] T And matrix A i ＝[τ 0 ,τ 1 ] T Where i=1, …, N. Construction of matrix
Where subscripts 0 and f are used to distinguish between time, i.e.,
(6.2) construction of a symmetric matrix
Where i=1, …, N. Building a blocking matrix
(6.3) construction of a permutation matrix C will b x Splitting into b x,free And b x,fixed Wherein
Building a blocking matrix
Wherein R is 1 Is an N-dimensional square matrix, R 4 Is an n+4 dimensional square matrix.
(6.4) for x-axis movement, the velocity of the intermediate waypoint is
The complete boundary value vector is +.>
The polynomial trajectory parameter of the x-axis motion is +.>
(6.5) repeating (6.4) for the y-direction movement to obtain the corresponding polynomial trajectory parameter p y 。
The invention also comprises a ground robot speed continuous obstacle avoidance track optimization system, which comprises:
the current position and speed acquisition module of the robot is used for acquiring the current position and speed of the robot;
the alternative switching point selection module is used for selecting alternative switching points between the obstacle avoidance track and the global track of the robot;
the alternative obstacle avoidance path generation module is used for generating an alternative obstacle avoidance path;
the multipoint boundary condition vector module is used for establishing multipoint boundary condition vectors corresponding to the obstacle avoidance track optimization problem;
the path point time calculation module is used for calculating path point time;
the optimization solving module is used for converting the obstacle avoidance track optimization problem into a multipoint boundary value problem optimization solution for each alternative obstacle avoidance path;
the optimal performance obstacle avoidance track selection module is used for selecting an optimal performance obstacle avoidance track from n alternative obstacle avoidance tracks.
The invention also comprises a computer readable storage medium, wherein a program is stored on the computer readable storage medium, and when the program is executed by a processor, the method for optimizing the continuous obstacle avoidance track of the ground robot speed is realized.
The invention also provides a schematic structure diagram of the ground robot speed continuous obstacle avoidance trajectory optimization system shown in fig. 3. As shown in fig. 3, the system for optimizing the continuous obstacle avoidance trajectory of the ground robot speed comprises a processor, an internal bus, a network interface, a memory and a nonvolatile memory, and can also comprise hardware required by other businesses. The processor reads the corresponding computer program from the non-volatile memory into the memory and then runs to implement the method of data acquisition described above with respect to fig. 1. Of course, other implementations, such as logic devices or combinations of hardware and software, are not excluded from the present invention, that is, the execution subject of the following processing flows is not limited to each logic unit, but may be hardware or logic devices.
Improvements to one technology can clearly distinguish between improvements in hardware (e.g., improvements to circuit structures such as diodes, transistors, switches, etc.) and software (improvements to the process flow). However, with the development of technology, many improvements of the current method flows can be regarded as direct improvements of hardware circuit structures. Designers almost always obtain corresponding hardware circuit structures by programming improved method flows into hardware circuits. Therefore, an improvement of a method flow cannot be said to be realized by a hardware entity module. For example, a programmable logic device (Programmable Logic Device, PLD) (e.g., field programmable gate array (Field Programmable Gate Array, FPGA)) is an integrated circuit whose logic function is determined by the programming of the device by a user. A designer programs to "integrate" a digital system onto a PLD without requiring the chip manufacturer to design and fabricate application-specific integrated circuit chips. Moreover, nowadays, instead of manually manufacturing integrated circuit chips, such programming is mostly implemented by using "logic compiler" software, which is similar to the software compiler used in program development and writing, and the original code before the compiling is also written in a specific programming language, which is called hardware description language (Hardware Description Language, HDL), but not just one of the hdds, but a plurality of kinds, such as ABEL (Advanced Boolean Expression Language), AHDL (Altera Hardware Description Language), confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), lava, lola, myHDL, PALASM, RHDL (Ruby Hardware Description Language), etc., VHDL (Very-High-Speed Integrated Circuit Hardware Description Language) and Verilog are currently most commonly used. It will also be apparent to those skilled in the art that a hardware circuit implementing the logic method flow can be readily obtained by merely slightly programming the method flow into an integrated circuit using several of the hardware description languages described above.
The controller may be implemented in any suitable manner, for example, the controller may take the form of, for example, a microprocessor or processor and a computer readable medium storing computer readable program code (e.g., software or firmware) executable by the (micro) processor, logic gates, switches, application specific integrated circuits (Application Specific Integrated Circuit, ASIC), programmable logic controllers, and embedded microcontrollers, examples of which include, but are not limited to, the following microcontrollers: ARC 625D, atmel AT91SAM, microchip PIC18F26K20, and Silicone Labs C8051F320, the memory controller may also be implemented as part of the control logic of the memory. Those skilled in the art will also appreciate that, in addition to implementing the controller in a pure computer readable program code, it is well possible to implement the same functionality by logically programming the method steps such that the controller is in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers, etc. Such a controller may thus be regarded as a kind of hardware component, and means for performing various functions included therein may also be regarded as structures within the hardware component. Or even means for achieving the various functions may be regarded as either software modules implementing the methods or structures within hardware components.
The system, apparatus, module or unit set forth in the above embodiments may be implemented in particular by a computer chip or entity, or by a product having a certain function. One typical implementation is a computer. In particular, the computer may be, for example, a personal computer, a laptop computer, a cellular telephone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.
For convenience of description, the above devices are described as being functionally divided into various units, respectively. Of course, the functions of each element may be implemented in the same piece or pieces of software and/or hardware when implementing the present invention.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of computer-readable media.
Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The invention may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The invention may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.
The embodiments of the present invention are described in a progressive manner, and the same and similar parts of the embodiments are all referred to each other, and each embodiment is mainly described in the differences from the other embodiments. In particular, for system embodiments, since they are substantially similar to method embodiments, the description is relatively simple, as relevant to see a section of the description of method embodiments.
The foregoing is merely exemplary of the present invention and is not intended to limit the present invention. Various modifications and variations of the present invention will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the invention are to be included in the scope of the claims of the present invention.
Claims (10)
1. The ground robot speed continuous obstacle avoidance track optimization method is characterized by comprising the following steps of:
step one: acquiring the current position and speed of the robot;
step two: selecting alternative switching points between the obstacle avoidance track and the global track of the robot;
step three: generating an alternative obstacle avoidance path;
step four: establishing a multipoint boundary condition vector corresponding to the obstacle avoidance track optimization problem;
step five: calculating the time of the path point;
step six: for each alternative obstacle avoidance path, converting the obstacle avoidance path optimization problem into a multipoint boundary value problem optimization solution;
step seven: and selecting the obstacle avoidance track with optimal performance from the n alternative obstacle avoidance tracks.
2. The method for optimizing a continuous obstacle avoidance trajectory of a ground robot according to claim 1, wherein the step one specifically comprises: taking a departure point as an origin of a coordinate system to acquire a two-dimensional space position r of the ground robot at the current moment 0 ＝[x 0 ,y 0 ]And velocity vector
3. The method for optimizing the continuous obstacle avoidance trajectory of a ground robot according to claim 1, wherein the step two specifically comprises: selecting a search grid number of n, and selecting n equally distributed discrete position points r on a global track of the rear section of the obstacle f,k Obtaining velocity vectors at discrete location points
Where k=1, …, n.
4. The method for optimizing the continuous obstacle avoidance trajectory of a ground robot according to claim 1, wherein the third step comprises: for each alternative switching point in the second step, passing RRT * Algorithm generation r 0 To r f,k Two-dimensional path point r between 1,k ,r 2,k ,…,r N,k The method comprises the steps of carrying out a first treatment on the surface of the Generating n alternative obstacle avoidance paths corresponding to the n alternative switching points; the number N of the path points contained in each path is defined by RRT * And (5) determining an algorithm.
5. The method for optimizing the continuous obstacle avoidance trajectory of a ground robot according to claim 1, wherein the step four specifically comprises: for each alternative obstacle avoidance path generated in the step three, the method is based on
Form vector b x And b y The method comprises the steps of carrying out a first treatment on the surface of the Wherein, the liquid crystal display device comprises a liquid crystal display device,
6. the method for optimizing the continuous obstacle avoidance trajectory of a ground robot according to claim 1, wherein the fifth step comprises: calculating the distance between the path points on each obstacle avoidance path according to the time sequence, calculating the transition time between the path points according to the travelling speed of the robot, and determining the time t of each path point based on the transition time 0 ,t 1 ,…,t N ,t f 。
7. The method for optimizing the continuous obstacle avoidance trajectory of a ground robot according to claim 1, wherein the step six specifically comprises: optimizing the path point r according to the boundary condition vector and the optimizing cost function 1,k ,r 2,k ,…,r N,k And (3) processing a speed vector of the robot, and further optimizing polynomial obstacle avoidance track parameters.
8. The method for optimizing the continuous obstacle avoidance trajectory of a ground robot according to claim 7, wherein said step six is implemented by:
(6.1) construction of vector τ 0 ＝[t 3 ,t 2 ,t,1] T ,τ 1 ＝[3t 2 ,2t,1,0] T And matrix A i ＝[τ 0 ,τ 1 ] T Wherein i=1, …, N; construction of matrix
Where subscripts 0 and f are used to distinguish between time, i.e.,
(6.2) construction of a symmetric matrix
Wherein i=1, …, N; building a blocking matrix
(6.3) construction of a permutation matrix C will b x Splitting into b x,free And b x,fixed Wherein
Building a blocking matrix
Wherein R is 1 Is an N-dimensional square matrix, R 4 Is an N+4-dimensional square matrix;
(6.4) for x-axis movement, the velocity of the intermediate waypoint is
The complete boundary value vector is +.>
The polynomial trajectory parameter of the x-axis motion is +.>
(6.5) repeating (6.4) for the y-direction movement to obtain the corresponding polynomial trajectory parameter p y 。
9. A ground robot speed continuous obstacle avoidance trajectory optimization system as set forth in claim 1, including:
the current position and speed acquisition module of the robot is used for acquiring the current position and speed of the robot;
the alternative switching point selection module is used for selecting alternative switching points between the obstacle avoidance track and the global track of the robot;
the alternative obstacle avoidance path generation module is used for generating an alternative obstacle avoidance path;
the multipoint boundary condition vector module is used for establishing multipoint boundary condition vectors corresponding to the obstacle avoidance track optimization problem;
the path point time calculation module is used for calculating path point time;
the optimization solving module is used for converting the obstacle avoidance track optimization problem into a multipoint boundary value problem optimization solution for each alternative obstacle avoidance path;
the optimal performance obstacle avoidance track selection module is used for selecting an optimal performance obstacle avoidance track from n alternative obstacle avoidance tracks.
10. A computer readable storage medium, having stored thereon a program which, when executed by a processor, implements a ground robot speed continuous obstacle avoidance trajectory optimization method as claimed in any one of claims 1 to 8.
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| CN202211525307.4A CN116430841A (en) | 2022-11-30 | 2022-11-30 | Ground robot speed continuous obstacle avoidance track optimization method and system |
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