WO2019141220A1

WO2019141220A1 - Mobile robot path planning method and system

Info

Publication number: WO2019141220A1
Application number: PCT/CN2019/072258
Authority: WO
Inventors: 刘清
Original assignee: 库卡机器人(广东)有限公司
Priority date: 2018-01-19
Filing date: 2019-01-18
Publication date: 2019-07-25
Also published as: CN108227716A

Abstract

A mobile robot path planning method and system, falling within the technical field of robot. The mobile robot path planting method comprises: receiving a first planned path from a mobile robot, wherein the first planned path is the shortest path, planned autonomously by the mobile robot, from a current position of the mobile robot to a target position; planning for the mobile robot a second planned path different from the first planned path; estimating a first expected time and a second expected time required by the mobile robot to execute the first planned path and the second planned path, respectively; and comparing the first expected time and the second expected time and transmitting, according to the comparison result, corresponding control instructions to the mobile robot. The mobile robot can recognize the control instructions and move according to the first planned path and the second planned path.

Description

Path planning method and system for mobile robot

Cross-reference to related applications

The present application claims the benefit of Chinese Patent Application No. 201, 810, 054, 744, filed on Jan. 19, 2011, the content of which is hereby incorporated by reference.

Technical field

The present invention relates to the field of robot technology, and in particular, to a path planning method and system for a mobile robot.

Background technique

It is the research focus of the current Internet of Things field to deploy a plurality of mobile robots in a dense area (for example, a logistics warehouse area), and to perform tasks such as moving goods to replace manual labor.

With the continuous improvement of user experience, improving the transportation efficiency of mobile robots is a hot research direction in the industry. Mobile robots with autonomous navigation have emerged. Such mobile robots will take into account the static obstacles in the environment when planning tasks, and thus plan the path. Other improved mobile robots can The shortest path for performing the scheduled task is determined autonomously, and then the shortest path is executed.

However, the inventors of the present application found in the practice of the present application that at least the following drawbacks exist in the prior art: the most efficient path performed by the mobile robot is not necessarily the shortest path because the mobile robot is passing the same distance. The average time consumed by different regions is not necessarily the same; for example, in one case, the mobile robot needs to make 2 bends to execute the shortest path, and there is a non-shortest path which is the distance from the longer straight line, which is costly due to cornering. For a longer period of time, it may be more efficient for the mobile robot to perform another long distance path.

Summary of the invention

The object of the embodiments of the present invention is to provide a path planning method and system for a mobile robot, which is to solve the problem that the mobile robot is difficult to efficiently complete the path scheduling task.

In order to achieve the above object, an embodiment of the present invention provides a path planning method for a mobile robot, including: receiving a first planned path from a mobile robot, wherein the first planned path is a slave mobile robot independently planned by the mobile robot a shortest path from the current location to the target location; planning a second planning path different from the first planning path for the mobile robot; and estimating that the mobile robot performs the first planning path and the second planning a first desired time and a second desired time respectively required by the path; comparing the first desired time and the second desired time, and transmitting a corresponding control command to the mobile robot according to the comparison result, wherein the mobile robot is capable of recognizing the Controlling the instruction and moving according to the first planned path or the second planned path.

Optionally, the sending, according to the comparison result, a corresponding control instruction to the mobile robot, wherein the mobile robot capable of identifying the control instruction and moving according to the first planning path or the second planning path comprises: when When the comparison result indicates that the duration of the second planned path is less than the first planned path, sending a corresponding second control command to the mobile robot, so that the mobile robot executes the control command and according to the The second planned path moves.

Optionally, the estimating, by the mobile robot, the first expected time and the second expected time required to perform the first planning path and the second planning path respectively: parsing the first planning path and the The path state information included in the second planning path, the path state information including one or more of: straight travel distance information, turn information, and/or reverse distance information; a cost estimation model and the path state Information, determining a first path cost value and a second path cost value respectively corresponding to the first planning path and the second planning path, wherein the cost estimation model assigns different weights to different path state information correspondences The value, and the path iteration value is positively correlated with the expected time.

Alternatively, the path value is determined by:

T(C)=M*t(F)+N*t(R)+K*t(B)

Where T(C) represents the intermediate calculated value, t(F), t(R) and t(B) respectively represent the surrogate value corresponding to the straight-line, turn and retreat information of the planned path, and M, N, and K respectively. Indicates the number of units corresponding to each path status information;

F(C)=α*f(C)+T(C)

Where f(C) represents the cost value corresponding to the distance of the first planned path, α represents the weight value assigned to the distance of the first planned path, and F(C) represents the path cost value.

Optionally, the planning path is capable of bypassing an obstacle in a predetermined area, and the predetermined area includes a plurality of node areas, wherein the method further includes: counting a node area through which the planned path passes to determine a distance of the planned path .

Optionally, the control instruction includes allocation information of the node area, wherein the mobile robot is capable of identifying the control instruction to move according to the first planning path or the second planning path, and the mobile robot It is configured to pass only from the allocated node area.

Optionally, the receiving, by the mobile robot, the first planning path includes: sending a scheduling command to the mobile robot, where the scheduling command includes target location information of the mobile robot; and in response to the scheduling command, from the The mobile robot receives a first planned path, wherein the planned path is determined by the mobile robot by an A* algorithm calculation based on the target position information.

Another aspect of the present invention provides a path planning system for a mobile robot, including: a first path acquiring unit configured to receive a first planning path from a mobile robot, wherein the first planning path is performed by the mobile robot An autonomously planned shortest path from a current location of the mobile robot to a target location; a second path planning unit configured to plan a second planned path different from the first planned path for the mobile robot; and a desired time estimation unit And configured to estimate a first desired time and a second desired time required by the mobile robot to perform the first planned path and the second planned path respectively; the path control unit is configured to compare the first expected time And a second desired time, and transmitting a corresponding control command to the mobile robot according to the comparison result, wherein the mobile robot is capable of identifying the control instruction and moving according to the first planned path or the second planned path.

Optionally, the path control unit is configured to send a corresponding second control instruction to the mobile robot when the comparison result indicates that the duration of the second planned path is less than the first planned path, So that the mobile robot executes the control command and moves according to the second planned path.

Optionally, the expected time estimating unit includes: a path state parsing module configured to parse the path state information included in the first planning path and the second planning path, where the path state information includes the following One or more of: straight-through distance information, turn information, and/or reverse distance information; a path cost determination module configured to determine, respectively, the first planned path and based on the cost estimation model and the path state information a first path cost value and a second path cost value of the second planning path, wherein the cost estimation model assigns different weight values for different path state information correspondences, and a positive correlation between path iteration values and expected time relationship.

Alternatively, the path value is determined by:

T(C)=M*t(F)+N*t(R)+K*t(B)

F(C)=α*f(C)+T(C)

Optionally, the planning path is capable of bypassing an obstacle in a predetermined area, and the predetermined area includes a plurality of node areas, wherein the system further includes: a node statistical unit configured to statistically calculate a node area through which the planned path passes, Determine the distance to the planned path.

Optionally, the shortest path obtaining unit includes: a scheduling command sending module, configured to send a scheduling command to the mobile robot, where the scheduling command includes target node area information; and the planning path receiving module is configured to respond to the Dispatching a command to receive a planning path from the mobile robot, wherein the planning path is determined by the mobile robot according to the target node area information and calculated by an A* algorithm.

Through the above technical solution, the shortest path of the self-planning is received from the mobile robot, and the other paths except the shortest path are planned for the mobile robot, and the expected time consumed by the other path and the shortest path are estimated respectively, and according to the estimation The expected time to select the mobile robot to perform the shortest path or other path. Therefore, in the embodiment of the present invention, the shortest path is not regarded as the most efficient path, but is estimated and compared with the execution efficiency of other planned paths to determine whether the shortest path is the most efficient execution path, and After the comparison, a control command corresponding to the most efficient execution path is sent to the mobile robot to ensure that the mobile robot can complete the mobile task with the highest efficiency.

Other features and advantages of embodiments of the invention will be described in detail in the Detailed Description.

DRAWINGS

The drawings are intended to provide a further understanding of the embodiments of the invention. In the drawing:

1 is a diagram showing an example of a map of a dense area of a path planning method for a multi-mobile robot according to an embodiment of the present invention;

2 is a flow chart of a path planning method for a multi-mobile robot according to an embodiment of the present invention;

3 is a flow chart of a method for acquiring a planned path of a mobile robot according to an embodiment of the present invention;

4 is an example of a node distribution table regarding a predetermined area in an embodiment of the present invention;

FIG. 5 is a flowchart of a method for estimating a path expected time according to an embodiment of the present invention; FIG.

6 is a schematic diagram of implementing path planning for a mobile robot according to an embodiment of the present invention;

Fig. 7 is a block diagram showing the structure of a path planning system for a mobile robot according to an embodiment of the present invention.

Description of the reference numerals

A1, A0, mobile robot B1, B2 obstacles

N1, N2 node 702 second path planning unit

701 first path acquisition unit 703 expected time estimation unit

Path planning system for more than 70 mobile robots 704 Path planning unit

Detailed ways

The specific embodiments of the embodiments of the present invention are described in detail below with reference to the accompanying drawings. It is understood that the specific embodiments described herein are merely illustrative of the embodiments of the invention.

As shown in FIG. 1, a plurality of obstacles B1, B2, etc., a plurality of mobile robots A0, A1, etc., and a plurality of maps are arranged in a map of a dense area of a path planning method for a multi-mobile robot according to an embodiment of the present invention. Node areas N1, N2, and so on. Wherein, the dense area may be predetermined according to needs, for example, it may refer to an area in the warehouse, the plurality of mobile robots A0, A1 may refer to a plurality of logistics robots, and through the mobile robots A0, A1 Running the move can carry the goods, but when multiple logistics robots are running at the same time, it may cause conflicts. The sizes of the different node regions N1 and N2 may be equal, which may be formed by equally dividing the map of the dense regions. It should be noted that the path planning method of the embodiment of the present invention may be performed by a server that centrally manages the plurality of mobile robots. It should be understood that the description of the map and the node area shown in FIG. 1 is not intended to limit the scope of protection of the present invention, that is, the implementation of the embodiment of the present invention may not need to divide the node area for a predetermined area. .

As shown in FIG. 2, a path planning method for a mobile robot according to an embodiment of the present invention includes:

S201. Receive a first planning path from the mobile robot, where the first planning path is a shortest path from the current location of the mobile robot to the target location that is independently planned by the mobile robot.

Specifically, referring to FIG. 3, which is an optional implementation manner of acquiring a planned path, the mobile robot may be an AGV (Automated Guided Vehicle), and the method for receiving the first planned path is described, including S301: The server sends a scheduling command to the mobile robot, where the scheduling command includes target node area information of each mobile robot. S302. After the mobile robot receives the respective scheduling commands, it calculates respective corresponding planning paths according to the target node region information and through the A* algorithm. S303. The mobile robot sends the calculated planning path to the server. Optionally, after the server obtains the planned path sent by the mobile robot, a corresponding subsequent processing is performed to ensure that the path conflict does not occur during the execution of the planned path by the mobile robot. As an example, there may be a plurality of node regions each having a unique node ID on the map (for example,

node numbers

0, 1, ..., 99 in the node distribution table for the dense region shown in FIG. 4), and the mobile robot A0 is receiving After the scheduling command, the node node area of the current position needs to reach the target node area No. 31. At this time, the mobile robot A0 calculates the shortest path to the target node area No. 31 by the A* algorithm, but the shortest path is not necessarily mobile. The most efficient path for robots to perform mobile tasks.

S202. Plan a second planning path different from the first planning path for the mobile robot.

Specifically, the other planned paths corresponding to the initial position and the ending position of the first planned path may be planned as the second planned path, and the second planned path may be all the paths except the first planned path. It may be other predetermined number of paths after the first planned path, which is not limited herein. Moreover, the manner of planning the second planned path should not be limited here.

S203. Estimate a first expected time and a second expected time required for the mobile robot to perform the first planned path and the second planned path, respectively.

Specifically, referring to FIG. 5, a method for estimating a path expected time according to an embodiment of the present invention includes: S501: parsing path state information included in a first planning path and a second planning path, where path state information includes One or more of the following: straight travel distance information, turn information, and/or reverse distance information. S502. Determine, according to the cost estimation model and the path state information, a first path cost value and a second path cost value respectively corresponding to the first planning path and the second planning path, where the cost estimation model is assigned to different path state information correspondences. Different weight values, and a positive correlation between the path iteration value and the expected time.

Specifically, the greater the value of the path generation, the longer the time taken by the mobile robot to execute the planned path, and the positive correlation coefficient between the two may be undefined. For example, the positive correlation coefficient may be a mobile robot with different dynamic performance. There are differences.

More specifically, in S502, the path value can be determined by:

T(C)=M*t(F)+N*t(R)+K*t(B) (1)

Where T(C) represents the intermediate calculated value, t(F), t(R) and t(B) respectively represent the surrogate value corresponding to the straight-line, turn and retreat information of the planned path, and M, N, and K respectively. Indicates the number of units corresponding to each path status information (such as the number of traveling nodes or the number of turning inflection points).

F(C)=α*f(C)+T(C) (2)

Where f(C) represents the cost value corresponding to the distance of the shortest planned path planned by the mobile robot, α represents the weight value assigned to the distance of the shortest planned path, and F(C) represents the total value based on all the information. The path value.

Specifically, the intermediate calculated value of T(C) in the formula (1) may be a comprehensive state calculated value determined by analyzing the respective path states of the planned path, wherein different states are given different weight values, and the guarantee is provided. The obtained F(C) can accurately reflect the path state of the planned path. In equation (2), F(C) is the reference of the distance of the planned path as part of the reference, not the full reference, and introduces T(C). Since the path state has an effect on the efficiency of the mobile robot's execution path, F(( The value of C) can reflect the efficiency of the mobile robot's execution path more than the shortest path.

As an example, as shown in FIG. 6, the mobile robot performs a scheduling task from A to B. From the illustration, it can be seen that the number of node regions (corresponding distances) of the shortest path calculated according to the A* algorithm is 7 The number of node regions planned according to another algorithm is 11. At this time, the server calculates the path cost value corresponding to the two paths, for example, when setting the cost of the preceding line t(F)=1, the cost of the left and right steering t(L)=t(R)=2, backward The cost t(B) = 4, α = 0.1.

Shortest path: t2(C)=8*t(F)+2*t(L)+2*t(L)=8+4+4=16

Longer path: t1(C)=12*t(F)+2*t(R)=11+4=15

And the node area through which the statistical planning path passes, to determine the distance of the planned path f1 (C) = 11, f2 (C) = 7, so F1 (C) = 0.1 * 11 + 15 = 16.1

F2 (C) = 0.1 * 7 + 16 = 16.7.

From the above comparison, it is not difficult to know that F1(C)<F2(C).

Therefore, the path value corresponding to the shortest path is greater than the path value corresponding to the longer path, that is, the mobile robot should perform a longer path more efficiently than the shortest path. The above exemplarily shows the calculation process of a longer path (that is, the second planned path). It can be understood that a plurality of longer paths can also be calculated and sequentially compared to determine the most efficient path, etc. It is all within the scope of protection of the present invention.

S204. Compare the first expected time and the second expected time, and send a corresponding control instruction to the mobile robot according to the comparison result, wherein the mobile robot can identify the control instruction and move according to the first planned path or the second planned path.

Specifically, when the comparison result indicates that the duration required to be consumed by the second planning path is smaller than the first planning path, sending a corresponding second control instruction to the mobile robot, so that the mobile robot executes the control instruction and according to the The second planned path moves. As described above, when the path value corresponding to the longer path is smaller than the path value corresponding to the shortest path, it indicates that the expected time corresponding to the longer path is smaller than the shortest path, and the longer path can be selected. It is distributed to the mobile robot in the form of control commands, so that the mobile robot performs the movement according to the longer path. Correspondingly, if the shortest path is calculated to be the most efficient path, the mobile robot can also perform the shortest path, but the difference is that the path performed by the mobile robot can be guaranteed to be the most efficient path.

In an embodiment, the control instruction may include allocation information of the node area, wherein the mobile robot is capable of identifying the control instruction to move according to the first planning path or the second planning path, and the mobile robot is configured to only from the assigned node The area passes, for example, the mobile robot performs the movement only after receiving the allocation information of the node area from the server, even though the mobile robot may have determined the planned route autonomously. Thereby, the mobile robot can be controlled not to perform the shortest path by the allocation of the node area information, but to perform a more efficient longer path. Moreover, the global management and maintenance of the node resources in the predetermined area is implemented by the node resource table, which ensures that the multi-mobile robot does not collide when implementing the mobile task, for example, one node resource is not allocated to two mobile robots at the same time.

As shown in FIG. 7, a path planning system 70 for a mobile robot according to an embodiment of the present invention includes: a first path acquiring unit 701 configured to receive a first planned path from a mobile robot, wherein the first planned path is a shortest path from the current position of the mobile robot to the target position that is independently planned by the mobile robot; the second path planning unit 702 is configured to plan a second planned path different from the first planned path for the mobile robot; The time estimating unit 703 is configured to estimate a first expected time and a second expected time required by the mobile robot to perform the first planning path and the second planning path respectively; the path control unit 704 is configured to compare The first desired time and the second desired time, and transmitting a corresponding control command to the mobile robot according to the comparison result, wherein the mobile robot is capable of identifying the control instruction and following the first planned path or the second plan The path moves.

In some embodiments, the path control unit is configured to send a corresponding second control instruction to the mobile when the comparison result indicates that the duration of the second planned path is less than the first planned path. a robot to cause the mobile robot to execute the control command and move according to the second planned path.

In some embodiments, the expected time estimating unit includes: a path state parsing module configured to parse path state information included in the first planning path and the second planning path, where the path state information includes One or more of: straight-through distance information, turn information, and/or reverse distance information; a path value determination module configured to determine, respectively, the first plan based on the cost estimate model and the path state information a first path cost value and a second path cost value of the path and the second planning path, wherein the cost estimation model assigns different weight values to different path state information correspondences, and between the path iteration value and the expected time Positive correlation.

In some embodiments, the path cost value is determined by:

T(C)=M*t(F)+N*t(R)+K*t(B)

F(C)=α*f(C)+T(C)

In some embodiments, the planning path is capable of bypassing an obstacle within a predetermined area, and the predetermined area includes a plurality of node areas, wherein the system further comprises: a node statistical unit configured to statistically pass the node through which the planned path passes Area to determine the distance of the planned path.

In some embodiments, the control instruction includes allocation information of the node area, wherein the mobile robot is capable of identifying the control instruction to move according to the first planned path or the second planned path, and The mobile robot is configured to pass only from the assigned node area.

In some embodiments, the first path obtaining unit includes: a scheduling command sending module configured to send a scheduling command to the mobile robot, wherein the scheduling command includes target node area information; and the planning path receiving module is configured to respond And receiving, by the scheduling command, a planning path from the mobile robot, wherein the planning path is determined by the mobile robot according to the target node area information and calculated by an A* algorithm.

It should be noted that the path planning system of the multi-mobile robot provided by the embodiment of the present invention may be built on a server for centrally managing multiple mobile robots, and each unit and module as described above may refer to a program module. Or unit. For more details and corresponding technical effects of the system of the embodiment of the present invention, reference may be made to the description of the method embodiment above, and details are not described herein again.

The system of the embodiments of the present invention may be used to implement the corresponding method embodiments of the present invention, and correspondingly achieve the technical effects achieved by the foregoing method embodiments of the present invention, and details are not described herein again.

In the embodiment of the present invention, a related function module can be implemented by a hardware processor.

In another aspect, an embodiment of the present invention provides a storage medium on which a computer program is stored, the program being executed by the processor as a step of a path planning method of a multi-mobile robot executed by the server.

The above products can perform the methods provided by the embodiments of the present application, and have the corresponding functional modules and beneficial effects of the execution method. For technical details that are not described in detail in this embodiment, reference may be made to the method provided by the embodiments of the present application.

The embodiments of the present invention are described in detail above with reference to the accompanying drawings. However, the embodiments of the present invention are not limited to the specific details in the foregoing embodiments. The technical solution carries out a variety of simple variants, all of which fall within the scope of protection of embodiments of the invention.

It should be further noted that the specific technical features described in the above specific embodiments may be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, various possible combinations of the embodiments of the present invention are not separately described.

Those skilled in the art can understand that all or part of the steps of implementing the foregoing embodiments may be completed by a program instructing related hardware, and the program is stored in a storage medium, and includes a plurality of instructions for causing a single chip, a chip or a processor. The processor performs all or part of the steps of the method described in the various embodiments of the present application. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like. .

In addition, the various embodiments of the present invention may be combined in any combination, as long as they do not deviate from the idea of the embodiments of the present invention, and should also be regarded as the disclosure of the embodiments of the present invention.

Claims

A path planning method for a mobile robot, comprising:

Receiving, from the mobile robot, a first planned path, wherein the first planned path is a shortest path from a current position of the mobile robot to a target position that is independently planned by the mobile robot;

Planning a second planning path different from the first planning path for the mobile robot;

Estimating a first desired time and a second desired time required by the mobile robot to perform the first planning path and the second planning path, respectively;

Comparing the first desired time and the second desired time, and transmitting a corresponding control command to the mobile robot according to the comparison result, wherein the mobile robot is capable of identifying the control instruction and following the first planned path or the second Plan the path to move.
The method according to claim 1, wherein said transmitting a corresponding control command to the mobile robot based on the comparison result, wherein said mobile robot is capable of recognizing said control command and following said first planned path or said The second planned path move includes:

Transmitting a corresponding second control instruction to the mobile robot to cause the mobile robot to execute the control instruction when the comparison result indicates that the duration required to be consumed by the second planning path is less than the first planning path And moving according to the second planned path.
The method according to claim 1, wherein the estimating the first expected time and the second expected time required by the mobile robot to perform the first planning path and the second planning path respectively comprises:

Parsing path state information included in the first planning path and the second planning path, the path state information including one or more of the following: straight distance information, turn information, and/or reverse distance information;

Determining, according to the cost estimation model and the path state information, a first path cost value and a second path cost value respectively corresponding to the first planning path and the second planning path, wherein the cost estimation model is different The path state information is assigned a different weight value, and a positive correlation between the path iteration value and the expected time.
The method of claim 3 wherein the path cost value is determined by:

T(C)=M*t(F)+N*t(R)+K*t(B)

Where T(C) represents the intermediate calculated value, t(F), t(R) and t(B) respectively represent the surrogate value corresponding to the straight-line, turn and retreat information of the planned path, and M, N, and K respectively. Indicates the number of units corresponding to each path status information;

F(C)=α*f(C)+T(C)

Where f(C) represents the cost value corresponding to the distance of the first planned path, α represents the weight value assigned to the distance of the first planned path, and F(C) represents the path cost value.
The method according to claim 4, wherein the planning path is capable of bypassing an obstacle in a predetermined area, and the predetermined area comprises a plurality of node areas, wherein the method further comprises:

The node area through which the planning path passes is counted to determine the distance of the planned path.
The method of claim 5, wherein the control instruction includes allocation information of the node area, wherein the mobile robot is capable of identifying the control instruction to follow the first planned path or the second The path is planned to move, and the mobile robot is configured to pass only from the assigned node area.
The method of claim 1, wherein the receiving the first planned path from the mobile robot comprises:

Sending a scheduling command to the mobile robot, wherein the scheduling command includes target location information of the mobile robot;

A first planned path is received from the mobile robot in response to the scheduling command, wherein the planned path is determined by the mobile robot by an A* algorithm calculation based on the target position information.
A path planning system for a mobile robot, comprising:

a first path obtaining unit configured to receive a first planned path from the mobile robot, wherein the first planned path is a shortest path from a current position of the mobile robot to a target position independently planned by the mobile robot;

a second path planning unit configured to plan a second planning path different from the first planning path for the mobile robot;

a desired time estimating unit configured to estimate a first expected time and a second expected time required by the mobile robot to perform the first planned path and the second planned path respectively;

a path control unit configured to compare the first desired time and the second desired time, and send a corresponding control command to the mobile robot according to the comparison result, wherein the mobile robot is capable of identifying the control instruction and following the first plan The path or the second planned path moves.
The system according to claim 8, wherein the path control unit is configured to send a corresponding number when the comparison result indicates that the duration required to be consumed by the second planned path is smaller than the first planned path And controlling the mobile robot to cause the mobile robot to execute the control instruction and move according to the second planned path.
The system of claim 8 wherein said expected time estimating unit comprises:

The path state parsing module is configured to parse the path state information included in the first planning path and the second planning path, where the path state information includes one or more of the following: straight distance information, turn information And/or reverse distance information;

a path cost value determining module, configured to determine, according to the cost estimation model and the path state information, a first path cost value and a second path cost value respectively corresponding to the first planning path and the second planning path, where The cost estimation model assigns different weight values to different path state information correspondences, and a positive correlation between the path iteration values and the expected time.
The system of claim 10 wherein the path cost value is determined by:

T(C)=M*t(F)+N*t(R)+K*t(B)

Where T(C) represents the intermediate calculated value, t(F), t(R) and t(B) respectively represent the surrogate value corresponding to the straight-line, turn and retreat information of the planned path, and M, N, and K respectively. Indicates the number of units corresponding to each path status information;

F(C)=α*f(C)+T(C)

Where f(C) represents the cost value corresponding to the distance of the first planned path, α represents the weight value assigned to the distance of the first planned path, and F(C) represents the path cost value.
The method according to claim 11, wherein the planning path is capable of bypassing an obstacle in a predetermined area, and the predetermined area comprises a plurality of node areas, wherein the system further comprises:

The node statistics unit is configured to count the node area through which the planned path passes to determine the distance of the planned path.
The system according to claim 12, wherein said control command includes allocation information of said node area, wherein said mobile robot is capable of identifying said control command to follow said first planned path or said second The path is planned to move, and the mobile robot is configured to pass only from the assigned node area.
The system according to claim 8, wherein the first path obtaining unit comprises:

a scheduling command sending module, configured to send a scheduling command to the mobile robot, where the scheduling command includes target node area information;

The planning path receiving module is configured to receive a planning path from the mobile robot in response to the scheduling command, wherein the planning path is determined by the mobile robot according to the target node area information and calculated by an A* algorithm.