CN116449817A - Map boundary-based detour path planning method, chip and robot - Google Patents
Map boundary-based detour path planning method, chip and robot Download PDFInfo
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Abstract
The invention discloses a detour path planning method based on map boundaries, a chip and a robot, wherein the detour path planning method comprises the following steps: step 1, respectively constructing first circle fields by taking each map boundary grid point as a circle center and taking the diameter of a robot body with a preset multiple as a radius, and then performing gradual corrosion operation on each first circle field to obtain a path obstacle degree evaluation value of the grid point in each first circle field; step 2, traversing a map boundary grid point every preset interval, constructing a second circle domain by taking the currently traversed map boundary grid point as a circle center and taking the diameter of the robot body with a preset multiple as a radius, and searching grid points meeting a critical condition by combining the path obstacle degree evaluation value obtained in the step 1; wherein all the grid points in the second circle have been given the path obstacle degree evaluation value in step 1; and step 3, sequentially connecting the grid points which meet the critical conditions and are searched in the step 2 into a bypass path.
Description
Technical Field
The invention relates to the technical field of map graphic form processing, in particular to a map boundary-based detour path planning method, a chip and a robot.
Background
The mobile robot can create a visual real-time map by means of sensors (including a laser radar, a monocular vision sensor and a binocular vision sensor), but in view of the fact that a two-dimensional grid map generated by the sensors is influenced by environment, for example, uneven illumination and object shielding can generate shadows around obstacles, noise or uneven edges of the map can exist, extraction of the outline of the obstacle in the grid map and subsequent measurement work are influenced, how to simply and efficiently extract a route walking around the boundary of the map (which can be a closed edge route inside the grid map) has great significance in autonomous navigation by the mobile robot to avoid the obstacle.
Disclosure of Invention
In order to solve the technical problems, the invention discloses a map boundary-based bypass path planning method, a chip and a robot, which are used for carrying out progressive corrosion treatment on a map boundary in a grid map, and combining the result of the progressive corrosion treatment, expanding from grid points of the map boundary and planning a bypass path in the map boundary, wherein the specific technical scheme is as follows:
the detour path planning method based on the map boundary comprises the following steps: step 1, respectively constructing first circle fields by taking each map boundary grid point as a circle center and taking the diameter of a robot body with a preset multiple as a radius, and then performing gradual corrosion operation on each first circle field to obtain a path obstacle degree evaluation value of the grid point in each first circle field; wherein, the map boundary grid points exist on the boundary of the grid map which is built in advance by the robot; wherein the preset multiple is related to the positioning precision of the grid map; step 2, traversing a map boundary grid point at every preset interval, constructing a second circle domain by taking the currently traversed map boundary grid point as a circle center and taking the diameter of the robot body with preset times as a radius, and searching the grid point meeting the critical condition by combining the path obstacle degree evaluation value obtained in the step 1; wherein all the grid points in the second circle have been given the path obstacle degree evaluation value in step 1; and step 3, sequentially connecting the grid points which meet the critical conditions and are searched in the step 2 into a bypass path.
According to the technical scheme, gradual change type corrosion operation is carried out on each first circle in the step 1, so that a path obstacle degree evaluation value, which is different from the path obstacle degree evaluation value obtained by conventional corrosion operation, of any grid point in the first circle is obtained, grid points meeting the critical condition are searched in the second circle constructed in the step 2 by combining the path obstacle degree evaluation value obtained in the step 1 and used for being connected with a detour path, so that a boundary line obtained by subtracting the gradual change type corrosion operation from a grid map is obtained, the planned detour path which is suitable for the boundary of the grid map is not influenced by the environment, the denoising effect and the smoothing effect of the detour path are effectively achieved, the planning effect of the robot detour path is improved, and particularly the smoothness degree of the robot along the side obstacle detour path is improved.
Further, the gradual etching operation in step 1 includes: calculating the linear distance between the currently corroded grid point and the circle center of the first circle domain to which the currently corroded grid point belongs, and recording the linear distance as a boundary searching distance; the current corroded grid point is one grid point covered by using the traversing unit from the center of the first circle domain; traversing the structural elements of the cell equivalent to the etching operation; setting the diameter of the robot body with the preset multiple as the corrosion radius; then, setting the path obstacle degree evaluation value of the current corroded grid point to be in a negative correlation with the boundary search distance in the first circle; judging whether the path obstacle degree evaluation value of the currently set currently corroded grid point is larger than the path obstacle degree evaluation value of the same previously set grid point, if so, maintaining the path obstacle degree evaluation value of the currently set currently corroded grid point unchanged, and setting the path obstacle degree evaluation value of the currently set currently corroded grid point as the latest path obstacle degree evaluation value of the currently corroded grid point; otherwise, updating the path obstacle degree evaluation value of the currently corroded grid point which is set in advance to be the path obstacle degree evaluation value of the currently corroded grid point which is set in advance, and setting the path obstacle degree evaluation value of the currently corroded grid point which is set in advance to be the latest path obstacle degree evaluation value of the currently corroded grid point.
The technical scheme belongs to improvement of conventional corrosion operation, in the process of traversing each map boundary grid point, each first circle field carries out gradual corrosion operation from the corresponding map boundary grid point to the periphery, and the obtained path obstacle degree evaluation value of the currently corroded grid point is set to be reduced along with the increase of the boundary search distance in the first circle field, so that the path obstacle degree evaluation value of the grid point distributed from outside to inside in the first circle field is sequentially increased; the method comprises the steps of comparing a path obstacle degree evaluation value of a currently-set current corroded grid point with a path obstacle degree evaluation value of a previously-set same grid point based on the characteristic that the same grid point is covered by a plurality of first circle fields, setting the maximum path obstacle degree evaluation value obtained by comparison as the latest path obstacle degree evaluation value of the currently-corroded grid point, and obtaining the latest path obstacle degree evaluation value (which can be understood as filling the grid point with the maximum value) of the currently-corroded grid point, which is obtained under gradual corrosion operation, so as to obtain the grid point closest to the corresponding map boundary grid point.
Further, when the boundary search distance is greater than the erosion radius, setting the path obstacle degree evaluation value of the currently eroded grid point as a preset minimum path obstacle degree evaluation value; wherein the path obstacle degree evaluation value of the map boundary grid point is set as a preset maximum path obstacle degree evaluation value. And setting all grid points outside a first circle of the current corrosion (performing progressive corrosion operation) as preset minimum path obstacle degree evaluation values, and further restricting the path obstacle degree evaluation value of any grid point in the first circle to be larger than the preset minimum path obstacle degree evaluation value and smaller than or equal to the preset maximum path obstacle degree evaluation value.
Further, before the gradual erosion operation in step 1 is performed, an initial value of the path obstacle degree evaluation value of the grid point of the map boundary is set to a preset maximum path obstacle degree evaluation value, and an initial value of the path obstacle degree evaluation value of an unknown grid point in the grid map is set to a preset maximum path obstacle degree evaluation value, and an initial value of the path obstacle degree evaluation values of the remaining types of grid points in the grid map is set to a preset minimum path obstacle degree evaluation value. Therefore, the map boundary grid points are extracted in advance by setting the path obstacle degree evaluation value, and different types of grid points, particularly unknown grid points, are marked in a distinguishing mode.
Further, the method for setting the path obstacle degree evaluation value of the currently corroded grid point to be in negative correlation with the boundary search distance in the first circle comprises the following steps: the path obstacle degree evaluation value of the current corroded grid point is the product of the ratio of the difference value of the corrosion radius and the boundary shrinkage distance to the preset maximum path obstacle degree evaluation value, so that the path obstacle degree evaluation value of the current corroded grid point is reduced along with the increase of the boundary search distance; wherein the difference between the erosion radius and the boundary contraction distance is the difference of the erosion radius minus the boundary contraction distance. And constructing a linear negative correlation between the path obstacle degree evaluation value of the current corroded grid point and the boundary search distance, so as to meet the reading accuracy of the map.
Further, the step 2 specifically includes: setting the diameter of a robot body with a preset multiple as the preset interval, along the boundary of a grid map pre-constructed by the robot, and traversing grid points of the boundary of the map according to the preset interval; constructing a second circle domain by taking the currently traversed map boundary grid point as a circle center and the diameter of the robot body with a preset multiple as a radius, and performing neighborhood expansion in the second circle domain by taking the currently traversed map boundary grid point as a search center; when the latest path obstacle degree evaluation value of the grid points currently expanded in the second circle is larger than the preset minimum path obstacle degree evaluation value and the latest path obstacle degree evaluation value of at least one grid point existing in the eight neighborhood of the grid points currently expanded is the preset minimum path obstacle degree evaluation value, setting one grid point with the minimum path obstacle degree evaluation value of the grid points currently expanded as the searched grid point meeting the critical condition, so as to realize that the grid point with the latest path obstacle degree evaluation value being the preset minimum path obstacle degree evaluation value and the critical position with the latest path obstacle degree evaluation value not being the grid point of the preset minimum path obstacle degree evaluation value are used as target positions for connecting the detour paths.
Further, in the step 3, grid points which are searched out in the second circle domain and meet the critical condition and are searched out according to the preset interval and traversed by the step 2 are sequentially connected to form the bypass path, so that the bypass path is parallel to the boundary of the grid map; wherein, there is a grid point that the latest estimated value of the degree of path obstacle of the said detour route is estimated value of the said minimum path obstacle degree of presettingwhile being said, there is a grid point that the estimated value of the degree of path obstacle of the latest estimated value of the said detour route is not estimated value of the said minimum path obstacle degree of presettingwhile being said another side of the said detour route; each grid point meeting the critical condition corresponds to a map boundary grid point traversed at a specific time, so that the acquisition sequence of the grid points meeting the critical condition is the same as the traversal sequence of the map boundary grid points, and a corrosion area is defined between the bypass path and the boundary of the grid map. Therefore, the bypass path has the meaning of obstacle-crossing walking of the robot, the coverage rate of the bypass path is improved due to the fact that the bypass path is parallel to the boundary of the grid map, and discontinuous and unsmooth path sections are reduced.
Further, the preset intervals are set so that grid points meeting the critical condition searched in the second circle corresponding to the grid points of different map boundaries are different grid points. And the setting of the preset interval and the setting of the preset multiple enable the similarity degree between the bypass path and the boundary of the grid map to be balanced with the search repeatability of the grid points meeting the critical condition.
A chip having stored thereon program code which when executed by the chip implements a detour path planning method based on map boundaries as described. The quality of the planned detour path parallel to the boundary within the map is ensured.
A robot provided with said chip, the robot being arranged to perform said map boundary based detour path planning method. And a navigation path is provided for the robot to bypass the obstacle avoidance, so that the smoothness of the obstacle avoidance behavior of the robot is improved.
Drawings
Fig. 1 is a flowchart of a method for planning a detour path based on map boundaries according to an embodiment of the present invention.
Detailed Description
The following describes the embodiments of the present invention further with reference to the drawings. It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the present application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments in accordance with the present application. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
As an embodiment, as shown in fig. 1, a detour path planning method based on map boundaries is disclosed, and before the detour path planning method is executed, a robot builds a grid map in advance, wherein the grid map has map boundaries, and the map boundaries are represented by grid points, which are simply called map boundary grid points. The detour path planning method comprises the following steps:
and P1, respectively constructing first circle fields by taking each map boundary grid point as a circle center and taking the diameter of a robot body with a preset multiple as a radius, performing gradual corrosion operation on each first circle field to obtain path obstacle degree evaluation values of grid points in each first circle field, and particularly updating the path obstacle degree evaluation values obtained by performing gradual corrosion operation on the first circle field of the current map boundary grid point by the path obstacle degree evaluation values obtained by performing corresponding gradual corrosion operation on the adjacent previous map boundary grid point to ensure that the path obstacle degree evaluation values of the current map boundary grid point are filled with the optimal values. Wherein, the map boundary grid points exist on the boundary of the grid map which is built in advance by the robot; the preset multiple is related to the positioning precision of the grid map, and is set to be 1 by default when the bypass path planning method starts to be executed according to the accurate setting of the grid map; and then proceeds to step P2.
P2, traversing a map boundary grid point at every preset interval, constructing a second circle domain by taking the currently traversed map boundary grid point as a circle center and taking the diameter of a robot body with a preset multiple as a radius, and searching the grid points meeting the critical condition by combining the path obstacle degree evaluation value obtained in the step 1, so that the grid points filled with the proper path obstacle degree evaluation value can be obtained in the process of traversing along the map boundary; then enter step P3; wherein all the grid points in the second circle have been given the path obstacle degree evaluation value in step 1. The process of executing the step P2 is to traverse a corresponding map boundary grid point along the map boundary according to the preset interval, but not traverse all map boundary grid points, so that the calculation power resource is saved.
And P3, sequentially connecting the grid points which meet the critical conditions and are searched in the step P2 into a bypass path. Wherein each grid point meeting the critical condition is a map boundary grid point which is traversed correspondingly, is consistent at least in the time sequence of extraction, and is irrelevant to the size of the path obstacle degree evaluation value of the specific grid point; preferably, the paths of the grid points which meet the critical condition and are sequentially searched out according to the step P2 are parallel to the boundaries of the grid map.
Compared with the morphological operation of the map graph related to the prior art, the method and the device perform gradual change type corrosion operation on each first circle through the step P1 to obtain path obstacle degree evaluation values of any grid point in the first circle, wherein the path obstacle degree evaluation values are different from those obtained by conventional corrosion operation, the grid points meeting the critical condition are searched in the second circle constructed through the step P2 by combining the path obstacle degree evaluation values obtained through the step P1 and used for connecting a bypass path to obtain an inner boundary obtained by subtracting the gradual change type corrosion operation from the grid map, and therefore the planned bypass path equivalent to the inner boundary of the grid map is not influenced by environment, the denoising effect and the smoothing effect of the bypass path are effectively achieved, the planning effect of the robot bypass path is improved, and particularly the smoothness of the robot along the edge obstacle bypass path is improved.
As an embodiment, the gradual etching operation in the step P1 includes:
p11, calculating the linear distance between the currently corroded grid point and the circle center of the first circle domain to which the currently corroded grid point belongs, and marking the linear distance as a boundary searching distance; the current corroded grid point is one grid point covered by using the traversing unit from the center of the first circle domain; traversing the structural elements of the cell equivalent to the etching operation; and then proceeds to step P12. It should be noted that, when the structural element scans the grid point of the grid map, a part of the neighborhood of the structural element is outside the boundary of the grid map, for example, when the structural element scans the first row of pixel values above the boundary of the grid map, the default structural element and the neighborhood thereof form a 3×3 sliding window for obtaining the outline of the region to be scanned in the grid map; the structural element may be partially outside the grid map, and in this case, in order to effectively process grid points covered by the boundaries of the grid map, the present embodiment assigns values to the structural element and its neighborhood using a morphological operation different from the conventional one, that is, assigns the aforementioned path obstruction degree evaluation value. It is known to those skilled in the art that the window for scanning the grid map may be a convolution kernel of any shape and size with the structural element as a reference point, and the convolution kernel may be a binary matrix representing a neighborhood of the structural element defined in a general expansion and corrosion operation, and then a two-dimensional plane structural element is composed of a matrix with a value of 0 or 1, so that the origin of the structural element designates a range of a grid area to be processed in the grid map, and the grid point with a value of 1 in the structural element determines whether the neighborhood grid of the structural element needs to participate in calculating the path obstruction degree evaluation value when the expansion or corrosion operation is performed.
Step P12, setting the diameter of the robot body with the preset multiple as the corrosion radius; then go to step P13; the default multiple is set to 1, and in the actual path planning operation, the preset multiple is adaptively adjusted according to the positioning error or the reading precision of the grid map, so as to overcome the interference of the sensor acquisition error and the environmental factor of the robot, and the method is an adjustment method which can be mastered by a person skilled in the art.
And step P13, setting the path obstacle degree evaluation value of the current corroded grid point to be in a negative correlation with the boundary search distance in the first circle, so that the path obstacle degree evaluation value corresponding to the current corroded grid point which is farther from the circle center is smaller, and the path obstacle degree evaluation value corresponding to the current corroded grid point which is closer to the circle center is larger. And then proceeds to step P14.
Before the gradual corrosion operation in the step P1 is performed, an initial value of the path obstacle degree evaluation value of the map boundary grid point is set to a preset maximum path obstacle degree evaluation value, an initial value of the path obstacle degree evaluation value of an unknown grid point in the grid map is set to a preset maximum path obstacle degree evaluation value, and initial values of path obstacle degree evaluation values of the rest type grid points in the grid map are set to a preset minimum path obstacle degree evaluation value, so that the map boundary grid points are extracted in advance by setting the path obstacle degree evaluation value, and different types of grid points, particularly unknown grid points, are marked differently, and preferably, the grid points with the preset path obstacle degree evaluation values are all stored in the same array so as to facilitate subsequent sequential traversal.
In this embodiment, the grid map previously constructed by the robot includes idle grid points, obstacle grid points, and unknown grid points, which respectively correspond to three states of idle (free), occupied (occupied), and unknown (unknown) in the map grid; the grid in the idle state refers to a grid which is not occupied by an obstacle, is a grid position point which can be reached by a robot, is the idle grid point and can form an unoccupied area; the grid in the occupied state refers to a grid occupied by an obstacle, is the obstacle grid point and can form an occupied area; the unknown grid is a grid area with unclear concrete conditions in the process of constructing a map by the robot, and the position points of the unknown grid are often blocked by obstacles, so that the unknown area can be formed.
It should be noted that, taking a sweeping robot as an example, a local probability grid may be established based on a single-line laser radar, or a local grid map may be established based on a vision sensor. And the global map is a map of the whole room drawn by the way of recording while walking in the room, and comprises occupied areas, unoccupied areas and unknown areas, wherein the occupied areas and the unoccupied areas can be attributed to the cleaned areas.
And step P14, judging whether the path obstacle degree evaluation value of the currently-set currently-corroded grid point is larger than the path obstacle degree evaluation value of the same previously-set grid point, if so, entering step P15, otherwise, entering step P16.
Step P15, maintaining the currently set path obstacle degree evaluation value of the currently corroded grid point unchanged, and setting the currently set path obstacle degree evaluation value of the currently corroded grid point as the latest path obstacle degree evaluation value of the currently corroded grid point; and obtaining the maximum value of the path obstacle degree evaluation values obtained by the progressive corrosion operation of the current corroded grid point in the first circle fields corresponding to the plurality of map boundary grid points, and taking the maximum value as the latest path obstacle degree evaluation value of the current corroded grid point.
And step P16, updating the path obstacle degree evaluation value of the currently corroded grid point which is set in advance into the path obstacle degree evaluation value of the currently corroded grid point which is set in advance, and setting the path obstacle degree evaluation value of the currently corroded grid point which is set in advance into the latest path obstacle degree evaluation value of the currently corroded grid point.
Preferably, in step P1, in the process of performing the foregoing progressive erosion operation on each first circle field, when the currently eroded grid point is not preset to the preset maximum path obstruction degree evaluation value (the currently eroded grid point is not a map boundary grid point nor an unknown grid point), the path obstruction degree evaluation value of the currently eroded grid point is updated at least once after being compared in the manner of step P14.
As can be seen from the foregoing gradual etching operations in step P11 to step P16, this embodiment belongs to an improvement of the conventional etching operation, in the process of traversing each map boundary grid point, each first circle field performs the gradual etching operation from the corresponding map boundary grid point to the periphery, and the obtained path obstacle degree evaluation value of the currently etched grid point is set to decrease in the first circle field along with the increase of the boundary search distance, so that the path obstacle degree evaluation values of the grid points distributed from outside to inside in the first circle field are sequentially increased; the method comprises the steps of comparing a path obstacle degree evaluation value of a currently-set currently-corroded grid point with a path obstacle degree evaluation value of a previously-set same grid point based on the characteristic that the same grid point is covered by a plurality of first circular domains, setting the maximum path obstacle degree evaluation value obtained by comparison as the latest path obstacle degree evaluation value of the currently-corroded grid point, and taking the latest path obstacle degree evaluation value (which can be understood as filling the grid point with the maximum value) of the currently-corroded grid point obtained under gradual corrosion operation, so that the latest currently-corroded grid point closest to the corresponding map boundary grid point is obtained, and the shortest bypass path is planned.
On the basis of the foregoing embodiment, when the boundary search distance is greater than the erosion radius, setting the path obstacle degree evaluation value of the currently eroded lattice point to a preset minimum path obstacle degree evaluation value, equivalent to setting the latest path obstacle degree evaluation value of the currently eroded lattice point having a straight line distance from the center of the corresponding first circle field greater than the erosion radius to the preset minimum path obstacle degree evaluation value; wherein the path obstacle degree evaluation value of the map boundary grid point is set as a preset maximum path obstacle degree evaluation value. Therefore, all grid points outside a first circle of the current corrosion (progressive corrosion operation is executed) are set as preset minimum path obstacle degree evaluation values, and the path obstacle degree evaluation values of any grid point in the first circle are constrained to be larger than the preset minimum path obstacle degree evaluation values and smaller than or equal to the preset maximum path obstacle degree evaluation values, so that a corrosion area is formed, and in the embodiment, critical grid positions are created at the edge of the first circle by filling the preset minimum path obstacle degree evaluation values into the grid points outside the first circle.
As one embodiment, the method for setting the path obstacle degree evaluation value of the currently eroded lattice point to have a negative correlation with the boundary search distance in the first circle domain includes: the path obstacle degree evaluation value of the current corroded grid point is the product of the ratio of the difference value of the corrosion radius and the boundary shrinkage distance to the corrosion radius and the preset maximum path obstacle degree evaluation value, so that the negative correlation is a linear negative correlation. The difference between the erosion radius and the boundary shrinkage distance is the difference obtained by subtracting the boundary shrinkage distance from the erosion radius, so that the path obstacle degree evaluation value of the currently eroded grid point is reduced along with the increase of the boundary search distance, that is, the larger the boundary search distance is, the smaller the difference between the erosion radius and the boundary shrinkage distance is, the farther the currently eroded grid point deviates from the circle center of the first circle domain (covered in executing the progressive erosion operation) to which the currently eroded grid point belongs, and the smaller the calculation result of the path obstacle degree evaluation value of the currently eroded grid point is, otherwise, the larger the calculation result of the path obstacle degree evaluation value of the currently eroded grid point is; in order to secure calculation accuracy to match the positioning accuracy of the map, the present embodiment preferably sets the preset maximum path obstacle degree evaluation value to a decimal number 100, while correspondingly setting the preset minimum path obstacle degree evaluation value to a decimal number 0.
As an embodiment, the step P2 specifically includes:
setting the diameter of a robot body with a preset multiple as the preset interval, traversing map boundary grid points along the boundary of a grid map which is pre-constructed by the robot according to the preset interval, namely traversing one map boundary grid point at every other preset interval on the boundary of the pre-constructed grid map; the setting of the preset multiple also represents the setting of the preset interval, so that the similarity degree between the bypass path and the boundary of the grid map and the search repeatability of the grid points meeting the critical condition can be balanced.
Constructing a second circle domain by taking the currently traversed map boundary grid point as a circle center and taking the diameter of the robot body with a preset multiple as a radius after traversing to one map boundary grid point; and performing neighborhood expansion in a second circular domain by taking the currently traversed map boundary grid point as a search center, wherein the neighborhood expansion comprises four neighborhood expansion or eight neighborhood expansion.
In the second circle, when the latest path obstacle degree evaluation value of the currently expanded grid point is larger than the preset minimum path obstacle degree evaluation value and the latest path obstacle degree evaluation value of at least one grid point existing in the eight neighborhood of the currently expanded grid point is the preset minimum path obstacle degree evaluation value, one grid point with the smallest path obstacle degree evaluation value of the currently expanded grid points is set as the searched grid point meeting the critical condition, and also indicates that the currently expanded grid point is adjacent to the grid point filled with the preset minimum path obstacle degree evaluation value as the boundary grid point filled with the preset minimum path obstacle degree evaluation value and the grid point not filled with the grid point filled with the preset minimum path obstacle degree evaluation value, the boundary grid point serving as the target position for connecting the detour path is available in the embodiment.
In the present embodiment, if every other body diameter (i.e., the preset multiple is set to 1) is searched for a grid point adjacent to the grid point for which the path obstacle degree evaluation value is set as the preset minimum path obstacle degree evaluation value and for which the path obstacle degree evaluation value is the smallest in the expansion process, although the grid point satisfying the critical condition is the farthest from the map boundary grid point currently searched for each time, it may be repeated with the previous search. Therefore, preferably, the preset interval is set so that the grid points meeting the critical condition searched in the second circle corresponding to the grid points of the boundary of the different maps are different grids, and the similarity degree between the bypass path and the boundary of the grid map and the search repeatability of the grid points meeting the critical condition are balanced by the preset interval and the self-adaptive setting of the preset multiple.
On the basis of the foregoing embodiment, in the step P3, grid points which are searched out in the second circle corresponding to each map boundary grid point and which meet the critical condition and are traversed in the step P2 according to the preset interval are sequentially connected to form the bypass path, so that the bypass path is parallel to the boundary of the grid map; the method comprises the steps that a latest path obstacle degree evaluation value is found on one side of a detour path and is a grid point of the preset minimum path obstacle degree evaluation value, a grid point of which the latest path obstacle degree evaluation value is not the preset minimum path obstacle degree evaluation value is found on the other side of the detour path, and therefore a pair of grid points filled with the preset minimum path obstacle degree evaluation value and a pair of grid points not filled with the preset minimum path obstacle degree evaluation value are always found on two sides of the detour path, and the method has the meaning of boundary lines, so that the detour path has the meaning of obstacle detour of a robot. Therefore, the bypass path has the meaning of obstacle-crossing walking of the robot, the coverage rate of the bypass path is improved due to the fact that the bypass path is parallel to the boundary of the grid map, and discontinuous and unsmooth path sections are reduced.
It should be emphasized that each grid point meeting the critical condition corresponds to a map boundary grid point traversed in a specific time, and the corresponding grid points meeting the critical condition may be sequentially connected according to the traversing sequence of the map boundary grid points, where specific directions include, but are not limited to, a clockwise direction and a counterclockwise direction, and preferably, the planned detour path is guaranteed to be parallel to the boundary of the grid map.
The progressive erosion operation performed in this embodiment makes the bypass path and the boundary of the grid map form an erosion area, where the boundary of the grid map is a closed boundary line, so that the bypass path corresponding to the boundary of the grid map, which is formed by connecting in the foregoing step P3, is also a closed route, and the bypass path becomes an edge line of a remaining closed grid map area (including grid points filled with the preset minimum path obstacle degree evaluation value and grid points filled with the preset maximum path obstacle degree evaluation value) obtained by subtracting the erosion area from the grid map.
Based on the foregoing embodiments, a chip is also disclosed, on which program code is stored, which when executed by the chip implements the map boundary-based detour path planning method as described. The quality of the planned detour path parallel to the boundary within the map is ensured.
The invention also discloses a robot provided with the chip, and the robot is arranged to execute the map boundary-based detour path planning method. And a navigation path is provided for the robot to bypass the obstacle avoidance, so that the smoothness of the obstacle avoidance behavior of the robot is improved.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application 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 above description is only a preferred embodiment of the present invention and is not intended to limit the present invention in any way, and any person skilled in the art may make modifications or alterations to the above disclosed technical content to the equivalent embodiments. However, any simple modification, equivalent variation and variation of the above embodiments according to the technical substance of the present invention still fall within the protection scope of the technical solution of the present invention.
Claims (10)
1. The detour path planning method based on the map boundary is characterized by comprising the following steps:
step 1, respectively constructing first circle fields by taking each map boundary grid point as a circle center and taking the diameter of a robot body with a preset multiple as a radius, and then performing gradual corrosion operation on each first circle field to obtain a path obstacle degree evaluation value of the grid point in each first circle field; wherein, the map boundary grid points exist on the boundary of the grid map which is built in advance by the robot; wherein the preset multiple is related to the positioning precision of the grid map;
step 2, traversing a map boundary grid point at every preset interval, constructing a second circle domain by taking the currently traversed map boundary grid point as a circle center and taking the diameter of the robot body with preset times as a radius, and searching the grid point meeting the critical condition by combining the path obstacle degree evaluation value obtained in the step 1; wherein all the grid points in the second circle have been given the path obstacle degree evaluation value in step 1;
and step 3, sequentially connecting the grid points which meet the critical conditions and are searched in the step 2 into a bypass path.
2. The detour path planning method as claimed in claim 1, wherein the gradual etching operation in step 1 includes:
calculating the linear distance between the currently corroded grid point and the circle center of the first circle domain to which the currently corroded grid point belongs, and recording the linear distance as a boundary searching distance; the current corroded grid point is one grid point covered by using the traversing unit from the center of the first circle domain; traversing the structural elements of the cell equivalent to the etching operation;
setting the diameter of the robot body with the preset multiple as the corrosion radius;
then, setting the path obstacle degree evaluation value of the current corroded grid point to be in a negative correlation with the boundary search distance in the first circle;
judging whether the path obstacle degree evaluation value of the currently set currently corroded grid point is larger than the path obstacle degree evaluation value of the same previously set grid point, if so, maintaining the path obstacle degree evaluation value of the currently set currently corroded grid point unchanged, and setting the path obstacle degree evaluation value of the currently set currently corroded grid point as the latest path obstacle degree evaluation value of the currently corroded grid point; otherwise, updating the path obstacle degree evaluation value of the currently corroded grid point which is set in advance to be the path obstacle degree evaluation value of the currently corroded grid point which is set in advance, and setting the path obstacle degree evaluation value of the currently corroded grid point which is set in advance to be the latest path obstacle degree evaluation value of the currently corroded grid point.
3. The detour path planning method according to claim 2, wherein when the boundary search distance is greater than the erosion radius, setting the path obstacle degree evaluation value of the currently eroded grid point as a preset minimum path obstacle degree evaluation value;
wherein the path obstacle degree evaluation value of the map boundary grid point is set as a preset maximum path obstacle degree evaluation value.
4. The detour path planning method according to claim 2, wherein, before the gradual erosion operation in step 1 is performed, an initial value of the path obstacle degree evaluation value of the map boundary grid point is set to a preset maximum path obstacle degree evaluation value, while an initial value of the path obstacle degree evaluation value of an unknown grid point within the grid map is set to a preset maximum path obstacle degree evaluation value, and an initial value of the path obstacle degree evaluation values of the remaining types of grid points in the grid map is set to a preset minimum path obstacle degree evaluation value.
5. The detour path planning method as claimed in any one of claims 3 to 4, wherein said method of setting the path obstruction degree evaluation value of the currently corroding grid point to be in negative correlation with the boundary search distance within the first circle includes:
the path obstacle degree evaluation value of the current corroded grid point is the product of the ratio of the difference value of the corrosion radius and the boundary shrinkage distance to the preset maximum path obstacle degree evaluation value, so that the path obstacle degree evaluation value of the current corroded grid point is reduced along with the increase of the boundary search distance;
wherein the difference between the erosion radius and the boundary contraction distance is the difference of the erosion radius minus the boundary contraction distance.
6. The detour path planning method as claimed in any one of claims 3 to 4, wherein said step 2 specifically includes:
setting the diameter of a robot body with a preset multiple as the preset interval, along the boundary of a grid map pre-constructed by the robot, and traversing grid points of the boundary of the map according to the preset interval;
constructing a second circle domain by taking the currently traversed map boundary grid point as a circle center and the diameter of the robot body with a preset multiple as a radius, and performing neighborhood expansion in the second circle domain by taking the currently traversed map boundary grid point as a search center;
when the latest path obstacle degree evaluation value of the grid points currently expanded in the second circle is larger than the preset minimum path obstacle degree evaluation value and the latest path obstacle degree evaluation value of at least one grid point existing in the eight neighborhood of the currently expanded grid points is the preset minimum path obstacle degree evaluation value, setting one grid point with the minimum path obstacle degree evaluation value of the currently expanded grid points as the searched grid point meeting the critical condition.
7. The method for planning a detour route according to claim 6, wherein in the step 3, one grid point which satisfies a critical condition and is searched out in the second circle corresponding to each map boundary grid point traversed by the step 2 according to the preset interval is sequentially connected to form the detour route, so that the detour route is parallel to the boundary of the grid map;
wherein, there is a grid point that the latest estimated value of the degree of path obstacle of the said detour route is estimated value of the said minimum path obstacle degree of presettingwhile being said, there is a grid point that the estimated value of the degree of path obstacle of the latest estimated value of the said detour route is not estimated value of the said minimum path obstacle degree of presettingwhile being said another side of the said detour route;
each grid point meeting the critical condition corresponds to a map boundary grid point traversed at a specific time, so that the acquisition sequence of the grid points meeting the critical condition is the same as the traversing sequence of the map boundary grid points.
8. The detour path planning method as claimed in claim 7, wherein the preset interval is set such that the grid points meeting the critical condition searched in the second circle corresponding to the grid points of the boundary of the different maps are different grid points.
9. A chip having program code stored thereon, which when executed by the chip implements the map boundary based detour path planning method according to any one of claims 1 to 8.
10. A robot provided with a chip as claimed in claim 9, the robot being arranged to perform the map boundary based detour path planning method as claimed in any one of claims 1 to 8.
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