WO2021184793A1

WO2021184793A1 - Path planning method and apparatus, electronic device, and storage medium

Info

Publication number: WO2021184793A1
Application number: PCT/CN2020/129198
Authority: WO
Inventors: 赵保亮; 胡颖; 李世博; 邵世平; 张悦
Original assignee: 深圳先进技术研究院
Priority date: 2020-03-17
Filing date: 2020-11-16
Publication date: 2021-09-23
Also published as: CN111428919A; CN111428919B

Abstract

A path planning method and apparatus, an electronic device and a storage medium. The path planning method comprises: acquiring a starting point, a target point and obstacle information (S101); determining at least one valid path point according to the starting point, the target point and the obstacle information (S102); performing path planning on the at least one valid path point to obtain at least one optimized path (S103), the optimized path being a path connecting the starting point and the target point; calculating, according to a preset path evaluation function, a path score corresponding to each optimized path (S104); and if there is an optimized path with the path score reaching a preset value, taking the optimized path with the path score reaching the preset value as a planned path (S105). In the path planning method, path planning is performed according to the valid path point to obtain an optimized path, a path selection range is expanded, and then the optimized path is constrained from a plurality of aspects, so as to obtain a better planned path.

Description

Path planning method, device, electronic equipment and storage medium

Technical field

This application belongs to the field of computer technology, and particularly relates to path planning methods, devices, electronic equipment, and storage media.

Background technique

Existing path planning methods generally use a single planning algorithm, which cannot solve complex path planning problems and has poor obstacle avoidance effects. If the existing path planning methods are applied to actual organ puncture, the accuracy of the puncture process cannot be guaranteed. And safety.

Summary of the invention

The embodiments of the present application provide a path planning method, device, electronic equipment, and storage medium, which can plan a more accurate path and achieve a better obstacle avoidance effect.

In the first aspect, an embodiment of the present application provides a path planning method, including:

Obtain starting point, target point and obstacle information;

Determining at least one effective waypoint according to the starting point, the target point, and the obstacle information, wherein the effective waypoint is located between the starting point and the target point;

Performing path planning on the at least one effective path point to obtain at least one optimized path, wherein the optimized path is a path connecting the starting point and the target point;

Calculate the path score corresponding to each optimized path according to the preset path evaluation function;

If there is an optimized path whose path score reaches the preset value, the optimized path whose path score reaches the preset value is taken as the planned path.

In a possible implementation manner, the obstacle information includes the range of influence of the obstacle and the distance constraint condition of the obstacle; the determination of at least one valid according to the starting point, the target point, and the obstacle information Waypoints, including:

Determine at least one initial path point and the direction of each initial path point according to the artificial potential energy field algorithm, the starting point, the target point, the influence range of the obstacle, and the preset step distance;

According to the distance constraint condition of the obstacle and the direction of each initial path point, at least one effective path point is screened out from the initial path point.

In a possible implementation manner, the performing path planning on the at least one effective path point to obtain at least one optimized path includes:

Perform path planning on the at least one effective path point according to path constraint conditions to obtain at least one optimized path; wherein, the optimized path is obtained by connecting at least two arc segments in sequence, and two adjacent arc segments are tangent; The path constraint condition is: if the arc segment is formed by connecting two adjacent effective path points, the arc segment is a double circular arc with equal curvature; if the arc segment is formed by two non-adjacent effective path points, The arc is formed by connecting path points, and the arc segment is an optimal double arc obtained according to a preset arc calculation formula.

In a possible implementation manner, the arc calculation formula is:

Among them, l _i represents the distance from the i-th effective path point to the center of the corresponding arc, n represents the number of effective path points, m represents the number of effective path points between the i-th effective path point and the target point, r ₁ And r ₂ respectively represent the radius of each arc in the double arc forming the arc segment. When f takes the minimum value, the corresponding radius is the radius of each arc in the optimal double arc.

In a possible implementation manner, the performing path planning on the at least one effective path point according to path constraint conditions to obtain at least one optimized path includes:

Performing path planning on the at least one effective path point according to path constraint conditions to obtain at least one initial path;

At least one optimized path is selected from the initial path according to the maximum curvature constraint condition.

In a possible implementation manner, the path evaluation function includes a path length evaluation function, an obstacle distance evaluation function, and/or an arc number evaluation function.

In a possible implementation, after calculating the path score corresponding to each optimized path according to the preset path evaluation function, the method further includes:

If there is no optimized path whose path score reaches the preset value, obtain a new starting point and a new target point, and re-plan the path.

In the second aspect, an embodiment of the present application provides a path planning device, including:

The acquisition module is used to acquire starting point, target point and obstacle information;

A determining module, configured to determine at least one effective waypoint according to the starting point, the target point, and the obstacle information, wherein the effective waypoint is located between the starting point and the target point;

A planning module, configured to perform path planning on the at least one effective path point to obtain at least one optimized path, where the optimized path is a path connecting the starting point and the target point;

The calculation module is used to calculate the path score corresponding to each optimized path according to the preset path evaluation function;

The judging module is configured to, if there is an optimized path whose path score reaches the preset value, use the optimized path whose path score reaches the preset value as the planned path.

In a possible implementation manner, the obstacle information includes the influence range of the obstacle and the distance constraint condition of the obstacle; the determining module is specifically configured to:

In a possible implementation manner, the planning module is specifically used for:

Perform path planning on the at least one effective path point according to path constraint conditions to obtain at least one optimized path; wherein, the optimized path is obtained by connecting at least two arc segments in sequence, and two adjacent arc segments are tangent; The path constraint condition is: if the arc segment is formed by the connection of two adjacent effective path points, the arc segment is a double circular arc with equal curvature; if the arc segment is formed by two non-adjacent effective path points, The arc is formed by connecting path points, and the arc segment is an optimal double arc obtained according to a preset arc calculation formula.

In a possible implementation manner, the arc calculation formula is:

In a possible implementation manner, the planning module is specifically used to:

In a possible implementation manner, the judgment module is further used for:

In a third aspect, an embodiment of the present application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and running on the processor. When the processor executes the computer program, The path planning method as described in the first aspect above is implemented.

In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the path planning described in the first aspect is implemented. method.

In a fifth aspect, embodiments of the present application provide a computer program product, which when the computer program product runs on an electronic device, causes the electronic device to execute the path planning method described in the first aspect.

Compared with the prior art, the embodiment of the present application has the beneficial effect that by acquiring the starting point, target point, and obstacle information, at least one effective waypoint is determined according to the starting point, target point, and obstacle information, where the effective waypoint is Is located between the starting point and the target point; path planning is performed on at least one effective path point to obtain at least one optimized path, where the optimized path is a path connecting the starting point and the target point; each path is calculated according to a preset path evaluation function A path score corresponding to an optimized path; if there is an optimized path whose path score reaches the preset value, the optimized path whose path score reaches the preset value is taken as the planned path. Since the effective path point is determined based on the obstacle information, it can ensure that the effective path point has a better obstacle avoidance effect. In addition, the optimized path is planned according to the effective path point, the path selection range is expanded, and finally the optimization is performed according to the path evaluation function. The path is scored so as to constrain the path from multiple aspects to obtain a better planned path.

Description of the drawings

In order to more clearly describe the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art.

FIG. 1 is a schematic flowchart of a path planning method provided by an embodiment of the present application;

Fig. 2 is a schematic diagram of a route planning area provided by an embodiment of the present application;

FIG. 3 is a schematic flowchart of sub-steps of a path planning method provided by an embodiment of the present application;

FIG. 4 is a schematic diagram of a method for screening effective waypoints according to an embodiment of the present application;

FIG. 5 is a schematic diagram of another method for screening effective waypoints according to an embodiment of the present application;

Fig. 6 is a schematic diagram of double circular arcs of equal curvature provided by an embodiment of the present application;

Fig. 7 is a schematic diagram of the optimal double arc provided by an embodiment of the present application;

FIG. 8 is a schematic diagram of an optimized path provided by an embodiment of the present application;

Figure 9 is a schematic diagram of a planned path provided by an embodiment of the present application;

FIG. 10 is a schematic diagram of a path planning device provided by an embodiment of the present application;

Fig. 11 is a schematic diagram of an electronic device provided by an embodiment of the present application.

Detailed ways

In the following description, for the purpose of illustration rather than limitation, specific details such as a specific system structure and technology are proposed for a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application can also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid unnecessary details from obstructing the description of this application.

It should be understood that when used in the specification and appended claims of this application, the term "comprising" indicates the existence of the described features, wholes, steps, operations, elements and/or components, but does not exclude one or more other The existence or addition of features, wholes, steps, operations, elements, components, and/or collections thereof.

It should also be understood that the term "and/or" used in the specification and appended claims of this application refers to any combination of one or more of the associated listed items and all possible combinations, and includes these combinations.

As used in the description of this application and the appended claims, the term "if" can be construed as "when" or "once" or "in response to determination" or "in response to detecting ". Similarly, the phrase "if determined" or "if detected [described condition or event]" can be interpreted as meaning "once determined" or "in response to determination" or "once detected [described condition or event]" depending on the context ]" or "in response to detection of [condition or event described]".

Reference to "one embodiment" or "some embodiments" described in the specification of this application means that one or more embodiments of this application include a specific feature, structure, or characteristic described in combination with the embodiment. Therefore, the sentences "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. appearing in different places in this specification are not necessarily All refer to the same embodiment, but mean "one or more but not all embodiments" unless it is specifically emphasized otherwise. The terms "including", "including", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized.

The path planning method provided in the embodiments of this application is applied to electronic devices. The electronic devices can be computers, medical devices, wearable devices, etc. The embodiments of this application do not impose any restrictions on the specific types of electronic devices.

Fig. 1 is a schematic flow chart of a path planning method provided by an embodiment of the present application. As shown in Fig. 1, the path planning method provided by an embodiment of the present application includes:

S101: Acquire starting point, target point, and obstacle information.

Among them, the starting point and the target point are respectively two coordinate points of the area where path planning is required, and the obstacle is located between the starting point and the target point. For example, before the flexible needle performs organ puncture, it is necessary to plan the path of the flexible needle's puncture path. As shown in Figure 2, the image and size of each organ in the area to be punctured are obtained from medical images. The starting point A is the needle entry point of the flexible needle, the target point B is the end of the puncture path, and the obstacle C is the difference between the starting point and the target point. Various tissues and organs between. The obstacle information includes the range of influence of the obstacle and the distance constraint condition of the obstacle. Among them, the influence range of the obstacle is set according to the size of the obstacle, the distance between the obstacle and the starting point, and the distance between the obstacle and the target point. The distance constraint condition of the obstacle is the minimum distance between the path and the obstacle. .

S102: Determine at least one effective waypoint according to the starting point, the target point, and the obstacle information, where the effective waypoint is located between the starting point and the target point.

Specifically, at least one effective path point is selected between the starting point and the target point, and the effective path point satisfies the distance constraint condition of the obstacle.

In a possible implementation, as shown in FIG. 3, S102 includes S201 and S202.

S201: Determine at least one initial path point and the direction of each initial path point according to the artificial potential energy field algorithm, the starting point, the target point, the influence range of the obstacle, and the preset step distance.

Among them, the artificial potential energy field algorithm is an algorithm that designs the influence of the target point and obstacles on the path point into the form of force. For the current path point, it is attracted by the target point and repelled by obstacles. The size of the attraction is set according to the distance between the current waypoint and the target point, the direction of attraction is set according to the relative position of the current waypoint and the target point, and the size of the repulsive force is set according to the distance between the current waypoint and the obstacle The direction of the repulsive force is set according to the relative position of the current path point and the obstacle.

As shown in Figure 2, according to the attractive and repulsive forces on the current path point, the resultant force on the current path point can be calculated, and the direction of the resultant force is taken as the direction of the current path point. Distance, the position of the next waypoint can be calculated, and then the direction of the next waypoint can be calculated according to the resultant force on the next waypoint, and so on, to get a series of waypoints and their corresponding directions, that is, the initial waypoint and the corresponding direction. The direction corresponding to each initial path point.

S202: Filter out at least one valid path point from the initial path point according to the distance constraint condition of the obstacle and the direction of each initial path point.

Specifically, calculate the distance between each initial path point and the obstacle. As shown in Figure 4, if the distance between the initial path point and the obstacle does not meet the distance constraint, that is, the distance between the initial path point and the obstacle is less than the path and the obstacle. The initial path point is deleted, that is, the initial path point in the circle is deleted, so as to avoid the impact on obstacles in the path planning process. As shown in Figure 5, the angle between every two adjacent initial path points is calculated according to the direction of each initial path point. If the angle between two adjacent initial path points is greater than or equal to 90°, delete this The initial path point, so as to avoid local oscillations in the path planning process. After deleting the initial waypoints that do not meet the conditions, a valid waypoint is obtained.

S103: Perform path planning on the at least one effective path point to obtain at least one optimized path, where the optimized path is a path connecting the starting point and the target point.

Specifically, two adjacent effective path points or non-adjacent effective path points are sequentially connected to obtain an optimized path.

In a possible implementation manner, the optimized path is obtained by connecting at least two arc segments in sequence, and the two adjacent arc segments are tangent to obtain a smooth planned path and improve the puncture accuracy in the actual puncture process. In the arc generation process, the path constraint conditions are set, and the path planning is carried out according to the path constraint conditions and effective path points. Wherein, the path constraint condition is: if the arc is formed by connecting two adjacent effective path points, the arc is a double circular arc with equal curvature; if the arc is formed by two non-adjacent Formed by the effective path point connection, the arc segment is the optimal double arc obtained according to the preset arc calculation formula.

For example, as shown in Figure 6, there are two adjacent effective path points, and the arc segment is a double arc, that is, the arc segment is formed by connecting the arc P and the arc Q, the arc P and the arc Q The curvatures of are equal, that is, the radii are equal, and the arc obtained is a double circular arc with equal curvature.

As shown in Figure 7, there are two non-adjacent effective path points. The arc segment is a double arc, that is, the arc segment is formed by connecting the arc S and the arc T. The radius is calculated by the preset arc formula, and the optimal double arc is obtained. In a possible implementation, the arc calculation formula is:

Among them, l _i represents the distance from the i-th effective path point to the center of the corresponding arc, n represents the number of effective path points, m represents the number of effective path points between the i-th effective path point and the target point, r ₁ And r ₂ respectively represent the radius of each arc in the double arc forming the arc segment. When f takes the minimum value, the corresponding radius is the radius of each arc in the optimal double arc, namely The radius of the arc S and the arc T.

As shown in Figure 8, each effective path point is connected according to the connection mode of equal curvature double arc and optimal double arc, and multiple initial paths are formed after arbitrary combination, thereby increasing the selection range of the planned path. Combined with the actual puncture process, the maximum curvature constraint condition is set, and the arc segment that does not meet the maximum curvature constraint condition is deleted, so as to obtain at least one optimized path.

S104: Calculate the path score corresponding to each optimized path according to the preset path evaluation function.

In a possible implementation manner, the path evaluation function includes a path length evaluation function, an obstacle distance evaluation function, and/or an arc number evaluation function. Exemplarily, the path evaluation function is

F=ω ₁ F _l +ω ₂ F _d +ω ₃ F _n ,

Among them, F _l represents the length evaluation function, F _d represents the obstacle evaluation function, F _n represents the arc number evaluation function, ω ₁ , ω ₂ , and ω ₃ respectively represent the length evaluation function, obstacle distance evaluation function and arc number evaluation The coefficients of the function, the sum of ω ₁ , ω ₂ , and ω ₃ can be 1. According to the actual needs of path planning, each coefficient is set to obtain the path evaluation function, and the path score corresponding to each optimized path is calculated, which can be used in path planning. In the process, the path length, obstacle distance and the number of arcs are comprehensively considered to plan a better path.

For example, in organ puncture according to the planned path, the longer the path length, the greater the damage to tissues and organs, the closer the distance to the obstacle, the higher the puncture risk, the greater the number of arcs, and the lower the puncture accuracy. The puncture site adjusts the various coefficients to obtain the path evaluation function, and calculates the path score corresponding to each optimized path.

S105: If there is an optimized path whose path score reaches the preset value, use the optimized path whose path score reaches the preset value as the planned path.

Specifically, as shown in FIG. 9, the optimized path with the highest path score is taken, and if the path score is greater than or equal to the preset value, the optimized path is taken as the final planned path.

S106: If there is no optimized path whose path score reaches the preset value, obtain a new starting point and a new target point, and perform path planning again.

Specifically, if there is no optimized path whose path score reaches the preset value, reset the starting point and the target point, and re-plan the path according to the method of S101-S105.

In a possible implementation, in the area where path planning is required, the area that can be set as the starting point is discretized to obtain multiple starting points after discretization. For each starting point, follow S101-S104 The method of path planning is performed, and the optimized path with the highest path score is taken as the final planned path.

In the foregoing embodiment, by acquiring the starting point, the target point, and the obstacle information, at least one effective waypoint is determined according to the starting point, the target point, and the obstacle information, where the effective waypoint is located between the starting point and the target point; Perform path planning on at least one effective path point to obtain at least one optimized path, where the optimized path is a path connecting the starting point and the target point; the path score corresponding to each optimized path is calculated according to the preset path evaluation function; if there is a path The optimized path whose score reaches the preset value is regarded as the planned path. Since the effective path point is determined based on the obstacle information, it can ensure that the effective path point has a better obstacle avoidance effect. In addition, the optimized path is planned according to the effective path point, the path selection range is expanded, and finally the optimization is performed according to the path evaluation function. The path is scored so as to constrain the path from multiple aspects to obtain a better planned path.

It should be understood that the size of the sequence number of each step in the foregoing embodiment does not mean the order of execution. The execution sequence of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present application.

Corresponding to the path planning method described in the above embodiment, FIG. 10 shows a structural block diagram of a path planning device provided in an embodiment of the present application. For ease of description, only the parts related to the embodiment of the present application are shown.

10, the path planning device includes:

The obtaining module 10 is used to obtain starting point, target point and obstacle information;

The determining module 20 is configured to determine at least one effective waypoint according to the starting point, the target point, and the obstacle information, wherein the effective waypoint is located between the starting point and the target point;

The planning module 30 is configured to perform path planning on the at least one effective path point to obtain at least one optimized path, where the optimized path is a path connecting the starting point and the target point;

The calculation module 40 is configured to calculate the path score corresponding to each optimized path according to the preset path evaluation function;

The judging module 50 is configured to, if there is an optimized path whose path score reaches the preset value, use the optimized path whose path score reaches the preset value as the planned path.

In a possible implementation manner, the obstacle information includes the influence range of the obstacle and the distance constraint condition of the obstacle; the determining module 20 is specifically configured to:

In a possible implementation manner, the planning module 30 is specifically configured to:

In a possible implementation manner, the arc calculation formula is:

In a possible implementation manner, the planning module 30 is specifically further used for:

In a possible implementation manner, the judgment module 50 is further configured to:

It should be noted that the information interaction and execution process between the above-mentioned devices/units are based on the same concept as the method embodiment of this application, and its specific functions and technical effects can be found in the method embodiment section. I won't repeat it here.

Fig. 11 is a schematic diagram of an electronic device provided by an embodiment of the present application. As shown in FIG. 11, the electronic device of this embodiment includes a processor 11, a memory 12, and a computer program 13 stored in the memory 12 and running on the processor 11. When the processor 11 executes the computer program 13, the steps in the above-mentioned path planning method embodiment are implemented, for example, steps S101 to S106 shown in FIG. 1. Alternatively, when the processor 11 executes the computer program 13, the functions of the modules/units in the foregoing device embodiments, such as the functions of the modules 10 to 50 shown in FIG. 10, are realized.

Exemplarily, the computer program 13 may be divided into one or more modules/units, and the one or more modules/units are stored in the memory 12 and executed by the processor 11 to complete This application. The one or more modules/units may be a series of computer program instruction segments capable of completing specific functions, and the instruction segments are used to describe the execution process of the computer program 13 in the electronic device.

Those skilled in the art can understand that FIG. 10 is only an example of an electronic device, and does not constitute a limitation on the electronic device. It may include more or fewer components than shown, or a combination of certain components, or different components, such as The electronic device may also include input and output devices, network access devices, buses, and the like.

The processor 11 may be a central processing unit (Central Processing Unit, CPU), other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (ASIC), Field-Programmable Gate Array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor or the like.

The memory 12 may be an internal storage unit of the electronic device, such as a hard disk or a memory of the electronic device. The memory 12 may also be an external storage device of the electronic device, such as a plug-in hard disk, a Smart Media Card (SMC), or a Secure Digital (SD) card equipped on the electronic device. Flash Card, etc. Further, the memory 12 may also include both an internal storage unit of the electronic device and an external storage device. The memory 12 is used to store the computer program and other programs and data required by the electronic device. The memory 12 can also be used to temporarily store data that has been output or will be output.

Those skilled in the art can clearly understand that, for the convenience and conciseness of description, only the division of the above functional units and modules is used as an example. In practical applications, the above functions can be allocated to different functional units and modules as needed. Module completion, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist alone physically, or two or more units can be integrated into one unit. The above-mentioned integrated units can be hardware-based Formal realization can also be realized in the form of a software functional unit. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the protection scope of the present application. For the specific working process of the units and modules in the foregoing system, reference may be made to the corresponding process in the foregoing method embodiment, which will not be repeated here.

In the above-mentioned embodiments, the description of each embodiment has its own focus. For parts that are not described in detail or recorded in an embodiment, reference may be made to related descriptions of other embodiments.

A person of ordinary skill in the art may realize that the units and algorithm steps of the examples described in combination with the embodiments disclosed herein can be implemented by electronic hardware or a combination of computer software and electronic hardware. Whether these functions are executed by hardware or software depends on the specific application and design constraint conditions of the technical solution. Professionals and technicians can use different methods for each specific application to implement the described functions, but such implementation should not be considered beyond the scope of this application.

In the embodiments provided in this application, it should be understood that the disclosed device/electronic device and method may be implemented in other ways. For example, the device/electronic device embodiments described above are only illustrative. For example, the division of the modules or units is only a logical function division, and there may be other divisions in actual implementation, such as multiple units. Or components can be combined or integrated into another system, or some features can be omitted or not implemented. In addition, the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, and may be in electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the objectives of the solutions of the embodiments.

In addition, the functional units in the various embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or software functional unit.

If the integrated module/unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer readable storage medium. Based on this understanding, this application implements all or part of the processes in the above-mentioned embodiments and methods, and can also be completed by instructing relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the program is executed by the processor, it can implement the steps of the foregoing method embodiments. Wherein, the computer program includes computer program code, and the computer program code may be in the form of source code, object code, executable file, or some intermediate forms. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory) , Random Access Memory (RAM, Random Access Memory), electrical carrier signal, telecommunications signal, and software distribution media, etc.

The above-mentioned embodiments are only used to illustrate the technical solutions of the present application, not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, a person of ordinary skill in the art should understand that it can still implement the foregoing The technical solutions recorded in the examples are modified, or some of the technical features are equivalently replaced; these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the application, and should be included in Within the scope of protection of this application.

Claims

A path planning method is characterized in that it includes:

Obtain starting point, target point and obstacle information;

Determining at least one effective waypoint according to the starting point, the target point, and the obstacle information, wherein the effective waypoint is located between the starting point and the target point;

Performing path planning on the at least one effective path point to obtain at least one optimized path, wherein the optimized path is a path connecting the starting point and the target point;

Calculate the path score corresponding to each optimized path according to the preset path evaluation function;

If there is an optimized path whose path score reaches the preset value, the optimized path whose path score reaches the preset value is taken as the planned path.
The path planning method according to claim 1, wherein the obstacle information includes the influence range of the obstacle and the distance constraint condition of the obstacle; The object information determines at least one valid path point, including:

Determine at least one initial path point and the direction of each initial path point according to the artificial potential energy field algorithm, the starting point, the target point, the influence range of the obstacle, and the preset step distance;

According to the distance constraint condition of the obstacle and the direction of each initial path point, at least one effective path point is screened out from the initial path point.
The path planning method according to claim 1, wherein said performing path planning on said at least one effective path point to obtain at least one optimized path comprises:

Perform path planning on the at least one effective path point according to path constraint conditions to obtain at least one optimized path; wherein, the optimized path is obtained by connecting at least two arc segments in sequence, and two adjacent arc segments are tangent; The path constraint condition is: if the arc segment is formed by the connection of two adjacent effective path points, the arc segment is a double circular arc with equal curvature; if the arc segment is formed by two non-adjacent effective path points, The arc is formed by connecting path points, and the arc segment is an optimal double arc obtained according to a preset arc calculation formula.
The path planning method according to claim 3, wherein the arc calculation formula is:

Among them, l i represents the distance from the i-th effective path point to the center of the corresponding arc, n represents the number of effective path points, m represents the number of effective path points between the i-th effective path point and the target point, r 1 And r 2 respectively represent the radius of each arc in the double arc forming the arc segment. When f takes the minimum value, the corresponding radius is the radius of each arc in the optimal double arc.
5. The path planning method according to claim 3, wherein said performing path planning on said at least one effective path point according to path constraint conditions to obtain at least one optimized path comprises:

Performing path planning on the at least one effective path point according to path constraint conditions to obtain at least one initial path;

At least one optimized path is selected from the initial path according to the maximum curvature constraint condition.
The path planning method according to claim 1, wherein the path evaluation function includes a path length evaluation function, an obstacle distance evaluation function, and/or an arc number evaluation function.
5. The path planning method according to claim 1, wherein after calculating the path score corresponding to each optimized path according to a preset path evaluation function, the method further comprises:

If there is no optimized path whose path score reaches the preset value, obtain a new starting point and a new target point, and re-plan the path.
A path planning device is characterized in that it comprises:

The acquisition module is used to acquire starting point, target point and obstacle information;

A determining module, configured to determine at least one effective waypoint according to the starting point, the target point, and the obstacle information, wherein the effective waypoint is located between the starting point and the target point;

A planning module, configured to perform path planning on the at least one effective path point to obtain at least one optimized path, where the optimized path is a path connecting the starting point and the target point;

The calculation module is used to calculate the path score corresponding to each optimized path according to the preset path evaluation function;

The judgment module is configured to, if there is an optimized path whose path score reaches the preset value, use the optimized path whose path score reaches the preset value as the planned path.
An electronic device, comprising a memory, a processor, and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the computer program as claimed in claims 1 to 7. The method of any one.
A computer-readable storage medium storing a computer program, wherein the computer program implements the method according to any one of claims 1 to 7 when the computer program is executed by a processor.