WO2023124339A1 - Procédé de planification de trajet, procédé de commande de mouvement et produit de programme informatique - Google Patents

Procédé de planification de trajet, procédé de commande de mouvement et produit de programme informatique Download PDF

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Publication number
WO2023124339A1
WO2023124339A1 PCT/CN2022/123040 CN2022123040W WO2023124339A1 WO 2023124339 A1 WO2023124339 A1 WO 2023124339A1 CN 2022123040 W CN2022123040 W CN 2022123040W WO 2023124339 A1 WO2023124339 A1 WO 2023124339A1
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Prior art keywords
point
path
mobile robot
parking
curvature
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PCT/CN2022/123040
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English (en)
Chinese (zh)
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赵安
赵雨辰
邸兴超
边铁栋
吴锦河
王润柱
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灵动科技（北京）有限公司
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Publication of WO2023124339A1 publication Critical patent/WO2023124339A1/fr

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface

Definitions

  • the present invention relates to the field of mobile robots, especially the field of motion control of mobile robots, and in particular to a path planning method for mobile robots, a corresponding motion control method for mobile robots and corresponding computer program products.
  • mobile robots are more and more widely used in various industrial and domestic environments.
  • mobile robots such as automated guided vehicles (AGVs), autonomous mobile robots (AMRs), and forklifts are one of the key equipment in modern logistics systems.
  • AGVs automated guided vehicles
  • AMRs autonomous mobile robots
  • forklifts are one of the key equipment in modern logistics systems.
  • Mobile robots can move and dock to target locations according to path planning and job requirements to complete tasks such as material handling and delivery.
  • Path planning is the key in the motion control of mobile robots.
  • the known parking path planning methods have problems such as sudden curvature changes, inaccurate poses, complex calculations, and specific requirements for the poses of the starting point of the path.
  • a parking path planning algorithm using Dubins curves for path planning wherein the planned path consists of three sections: an arc, a straight line and another arc, or three arcs with alternating directions.
  • the curvature of the planned path is not necessarily continuous, which is not conducive to the accurate docking of the mobile wheel robot.
  • the object of the present invention is to provide an improved path planning method and corresponding motion control method for a mobile robot, to overcome at least one deficiency of the prior art.
  • a path planning method for a mobile robot includes the following steps:
  • S12 Determine point C 1 and point C 3 such that the vector The direction of is the same as the direction of the mobile robot at the starting point A, and the vector The direction of is the same as that of the mobile robot at the end point B;
  • S14 Determine the first path with the starting point A as the starting point and the point C2 as the ending point, and determine the second path with the point C2 as the starting point and the ending point B as the ending point, wherein the first path and the second path are third-order Bezier curves satisfying the following constraints:
  • the mobile robot satisfies the starting pose and starting curvature ⁇ 0 at the starting point A,
  • the mobile robot satisfies the end pose and end curvature ⁇ 1 at the end point B, and
  • the linear velocity direction and vector of the mobile robot at point C2 are the same and have a curvature of 0;
  • S15 The path formed by concatenating the first path and the second path is used as a planned path or a part of the planned path for the mobile robot.
  • point C 1 and point C 3 are determined in the following manner: point M is determined such that the vector The direction of is the same as the direction of the mobile robot at the starting point A, and the vector The direction of is the same as that of the mobile robot at the end point B; and the point C 1 is determined on the line segment AM, and the point C 3 is determined on the line segment MB.
  • step S13 a point on the line segment C 1 C 3 that can minimize the maximum absolute value of the curvature of the first path and the second path is selected as point C 2 .
  • step S13 the midpoint of the line segment C 1 C 3 is selected as the point C 2 .
  • the point C 1 , the point C 3 and the point C 2 are determined in such a way that the maximum absolute value of the curvature of the first path and the second path is minimized.
  • the first path is a curve represented by:
  • P′ p1x (s), P′ p1y (s), P′′ p1x (s), P′′ p1y (s), are respectively The first-order abscissa, ordinate and second-order derivative of the abscissa, ordinate, and
  • the second path is a curve represented by:
  • P′ p2x (s), P′ p2y (s), P′′ p2x (s), P′′ p2y (s), are respectively The first-order abscissa, ordinate and second-order abscissa, ordinate of the derivative;
  • the planned path is a planned path for the mobile robot to move to the target parking point T and park at the target parking point T with a desired parking posture, wherein the starting point A is the parking
  • the starting point of the planned path, the ending pose and the ending curvature ⁇ 1 are determined according to the desired parking pose.
  • the end point B is the end point of the planned parking path
  • the end point pose is determined to be the same as the expected berthing pose
  • the end point curvature ⁇ 1 0.
  • the end point B is a point different from said target berthing point T, wherein:
  • the direction of the mobile robot at the end point B is the same as the direction of the mobile robot at the target parking point T;
  • step S15 the path formed by concatenating the first path, the second path and the line segment BT is used as a parking planning path for moving the mobile robot to the target parking point T.
  • the mobile robot is a differential robot.
  • a motion control method for a mobile robot includes the following steps:
  • S22 Select a first point on the global path and a second point that is closer to the end point of the global path than the first point, with the first point as the starting point A and the second point as the end point B, and execute according to the present invention
  • the predetermined berthing area is a position that is pre-defined for the target berthing point T and covers the position of the target berthing point T Area.
  • the pose and/or curvature of the mobile robot at the starting point A is correspondingly the same as the pose and/or curvature of the mobile robot at the first point on the global path.
  • a motion control method for a mobile robot includes the following steps:
  • S31 Obtain a global path for the mobile robot, and control the mobile robot to move according to the global path;
  • the predetermined berthing area is an area defined in advance for the position of the target berthing point T and covering the position of the target berthing point T.
  • the pose and/or curvature of the mobile robot at the starting point A is correspondingly the same as the pose and/or curvature of the mobile robot at the current location.
  • a computer program product comprising computer program instructions, wherein when said computer program instructions are executed by one or more processors, said processors are capable of performing The inventive path planning method or the motion control method according to the invention.
  • the positive effect of the present invention is that: the path spliced by the first path and the second path is conducive to enabling the mobile robot to reach a specific position in a specific direction, and there is no special pose requirement for the starting point of the planned path, and it is relatively smooth, and has a continuous curvature.
  • the above-mentioned constraints on the first path and the second path are not only beneficial to obtain a smooth and continuous curvature path, but also facilitate the determination of the first path and the second path in a simple manner without complicated calculations.
  • Fig. 1 schematically shows that a path planning method is used to generate a planned path for a mobile robot in an exemplary embodiment of the present invention
  • Fig. 2 schematically shows a flow chart of a path planning method for a mobile robot according to an exemplary embodiment of the present invention
  • Fig. 3 schematically shows that a path planning method is used to generate a planned path for a mobile robot in an exemplary embodiment of the present invention
  • FIG. 4A and 4B schematically illustrate a planned path and its curvature generated by a path planning method according to an exemplary embodiment of the present invention
  • 5A and 5B schematically illustrate a planned path and its curvature generated by a path planning method according to an exemplary embodiment of the present invention
  • Fig. 6 schematically shows a flow chart of a motion control method for a mobile robot according to an exemplary embodiment of the present invention
  • FIG. 7 schematically shows a global path obtained by using a motion control method according to an exemplary embodiment of the present invention.
  • Fig. 8 schematically shows a flowchart of a motion control method for a mobile robot according to an exemplary embodiment of the present invention.
  • the present invention is applicable to mobile robots, which can be any robots capable of autonomous space movement, such as AGV, AMR and so on.
  • the mobile robot can be used to perform various tasks, such as a storage robot, a cleaning robot, a family escort robot, a welcome robot, and the like.
  • FIG. 1 schematically shows a planned path generated by a path planning method for a mobile robot 1 in an exemplary embodiment according to the present invention.
  • the mobile robot 1 is, for example, a differential robot, that is, the mobile robot 1 includes a differential wheel motion system.
  • the mobile robot 1 may also be other types of robots, such as a single steering wheel robot or a double steering wheel robot.
  • the mobile robot 1 can include, for example, a dual steering wheel kinematic system.
  • the mobile robot 1 includes, for example, a communication device for communicating with other devices, such as a dispatch control system.
  • the mobile robot 1 may also include sensors such as cameras, radars and the like.
  • the mobile robot 1 can acquire required information through the sensors, such as the current position of the mobile robot 1 or its surrounding environment and the like.
  • the mobile robot 1 further includes, for example, a controller.
  • the controller is used to move the components of the robot 1 , including for example the differential wheel kinematic system, sensors, communication means and the like.
  • the controller can also receive working status or detection data of corresponding components, such as sensors, through communication lines, so as to monitor or control the operation of the mobile robot 1 .
  • FIG. 1 exemplarily shows that the mobile robot 1 needs to move to a target docking point adjacent to the charging pile 2 in order to dock with the charging pile 2 for charging.
  • a path planning method according to the mobile robot 1 can be performed.
  • Fig. 2 schematically shows a flowchart of a path planning method for a mobile robot 1 according to an exemplary embodiment of the present invention.
  • the path planning method may include the following steps:
  • S12 Determine point C 1 and point C 3 such that the vector The direction of is the same as that of mobile robot 1 at the starting point A, and the vector The direction of is the same as that of mobile robot 1 at the end point B;
  • S14 Determine the first path 3 with the starting point A as the starting point and the point C2 as the ending point, and determine the second path 4 with the point C2 as the starting point and the ending point B as the ending point, wherein the first path 3 and The second path 4 is a third-order Bezier curve satisfying the following constraints:
  • mobile robot 1 satisfies the starting pose and starting curvature ⁇ 0 at the starting point A,
  • the mobile robot 1 satisfies the end pose and end curvature ⁇ 1 at the end point B, and
  • the linear velocity direction and vector of the mobile robot 1 at point C2 are the same and have a curvature of 0;
  • S15 The path formed by splicing the first path 3 and the second path 4 is used as a planned path or a part of the planned path for the mobile robot 1 .
  • the resulting planned path is beneficial for the mobile robot 1 to reach a specific location in a specific direction, and there is no special pose requirement for the starting point of the planned path. That is, arbitrary directions and arbitrary curvatures can be used as starting points as desired.
  • the path spliced by two third-order Bezier curves can make the parking planning path smoother.
  • the above-mentioned constraints on the first path 3 and the second path 4 are beneficial to make the curvature of the generated planned path smooth and have continuous curvature. This makes changes in the speed and acceleration of the mobile robot 1 more gradual.
  • a parking planning path with continuous curvature can be adapted particularly advantageously to the motion characteristics of the differential robot.
  • the above-mentioned constraints on the first path 3 and the second path 4 also facilitate the determination of the first path 3 and the second path 4 in a simple manner without complex calculations.
  • the pose of the mobile robot 1 at a certain point includes the position and orientation of the mobile robot 1 .
  • the pose of the mobile robot 1 can be expressed as (x, y, ⁇ ), for example, where x and y represent the horizontal and vertical coordinates of the mobile robot 1 respectively, and ⁇ represents the direction of the mobile robot 1 .
  • the mobile robot 1 can move forward or backward, so the direction of the mobile robot 1 at the starting point A can correspond to the "front" or "rear" direction of the mobile robot 1 .
  • the direction of the mobile robot 1 at the starting point A is the motion direction of the mobile robot 1 at the starting point A.
  • the planned path is a planned path for moving the mobile robot 1 to the target berthing point T and parked at the target berthing point T with a desired berthing posture, wherein the starting point A is The start point, end point pose and end point curvature ⁇ 1 of the parking planning path are determined according to the desired berthing pose.
  • the path planning method can be regarded as a parking path planning method for the mobile robot 1, which aims to plan a moving path for the mobile robot 1 to park at a specific target parking point in a specific direction .
  • the desired parking pose can be determined by the parking task of the mobile robot 1 . For example, for the mobile robot 1 that needs to be docked with the charging pile 2 , the desired parking pose can be determined according to the position and direction of the charging pile 2 and the docking direction required by the charging pile 2 .
  • the obtained parking planning path can enable the mobile robot 1 to start the parking planning path in any direction and any curvature, without making the mobile robot 1 stop first at the beginning of the parking planning path, and without making the mobile robot 1 stop at the beginning of the parking planning path. to adjust to a specific direction.
  • Such a parking planning path with continuous curvature is particularly advantageous for differential robots.
  • the path formed by splicing two third-order Bezier curves will make the parking planning path smoother.
  • the path formed by splicing the first path 3 and the second path 4 is used as a planned parking path for the mobile robot 1 .
  • the starting point A is the starting point of the parking planning path
  • the ending point B is the ending point of the parking planning path for the mobile robot 1 , ie, the target parking point T.
  • the end point B is the end point of the parking planning path
  • step S11 for example, the start pose and curvature ⁇ 0 of the mobile robot 1 at the start point A and the end pose and curvature ⁇ 1 at the end point B of the path can be obtained from other devices through a communication device.
  • the start pose and curvature ⁇ 0 of the mobile robot 1 at the start point A and the end pose and curvature ⁇ 1 at the end point B of the path can also be acquired by sensors.
  • points C 1 and C 3 are determined in step S12, for example, in the following manner: first, point M is determined such that the vector The direction of is the same as that of mobile robot 1 at the starting point A, and the vector The direction of is the same as that of the mobile robot 1 at the end point B; then, a point C 1 is determined on the line segment AM, and a point C 3 is determined on the line segment MB. In this way, at least the first path 3 and the second path 4 can be ensured to be within the range of the triangle AMB, which is conducive to generating a smoother planned berthing path.
  • points C1 and C3 are midpoints of line segment AM and line segment MB respectively, it can be further ensured that the first path 3 and the second path 4 are within the lower part of the triangle AMB, ie the trapezoid AC1C3B .
  • step S13 for example, the midpoint of the line segment C 1 C 3 may be selected as the point C 2 .
  • the first path 3 and the second path 4 with less curvature can be generated in a simple manner.
  • the first path 3 and the second path 4 may be determined in step S14.
  • the first path 3 can be represented by the following formula:
  • P′ p1x (s), P′ p1y (s), P′′ p1x (s), P′′ p1y (s), are respectively The first-order abscissa, ordinate and second-order abscissa, ordinate of the derivative;
  • the second path 4 can be represented by the following formula:
  • P′ p2x (s), P′ p2y (s), P′′ p2x (s), P′′ p2y (s), are respectively The first-order abscissa, ordinate and second-order abscissa, ordinate of the derivative;
  • the path planning method after determining the starting point A, the ending point B and the point C2 , it can be determined as The control points of the first path 3 and the second path 4 of the third-order Bezier curve. This process does not require complex calculations.
  • the path formed by splicing the first path 3 and the second path 4 may be used as a parking planning path or a part of the parking planning path for moving the mobile robot 1 to the target parking point.
  • the first path 3 and the second path 4 themselves have continuous curvature, and the spliced path formed by the first path 3 and the second path 4 also has a continuous curvature at the splicing point C 2 .
  • Fig. 3 schematically shows the use of a path planning method to generate a planned path in an exemplary embodiment of the present invention.
  • the mobile robot 1 needs to move to a target parking point T adjacent to the charging pile 2 in order to dock with the charging pile 2 for charging.
  • the end point B may not coincide with the target berthing point T of the berthing planning route.
  • the orientation of the mobile robot 1 at the end point B can be set to be the same as the vector in the same direction.
  • the direction of the mobile robot 1 at the end point B and the direction of the mobile robot at the target parking point T can be made the same.
  • the first path 3 and the second path 4 are generated. The difference is that, in step S15 , the path formed by concatenating the first path 3 , the second path 4 and the line segment BT is used as a parking planning path for moving the mobile robot 1 to the target parking point.
  • Fig. 4A and Fig. 4B schematically show a planned path and its curvature generated by a path planning method according to an exemplary embodiment of the present invention.
  • Points C 1 and C 3 can be determined according to the poses of the mobile robot 1 at the starting point A and the ending point B.
  • the points C1 and C3 may be set to be separated from the start point A and the end point B by a predetermined distance, respectively.
  • point C1 is separated from the starting point A by a predetermined first distance, such as 0.4m
  • point C3 is separated from the end point B by a predetermined second distance, such as 0.7m.
  • point C 2 can be determined on line segment C 1 C 3 .
  • point C 2 is determined to be the first quarter point on line segment C 1 C 3 . therefore,
  • FIG. 4B shows the curvature of the planned path spliced by the first path 3 and the second path 4 .
  • the maximum absolute value of the curvature of the resulting planned path will exceed 10.
  • Fig. 5A and Fig. 5B schematically show a planned path and its curvature generated by using the path planning method according to an exemplary embodiment of the present invention.
  • the difference between this embodiment and the embodiment shown in FIGS. 4A and 4B is that the position of the point C 2 on the line segment C 1 C 3 is different.
  • point C2 is determined as the midpoint of line segment C1C3 . Therefore,
  • FIG. 5B shows the curvature of the planned path spliced by the first path 3 and the second path 4 shown in FIG. 5A .
  • the maximum absolute value of the curvature of the resulting planned path will be less than 10.
  • a point on the line segment C 1 C 3 that can minimize the maximum absolute value of the curvature of the first path 3 and the second path 4 can be selected as point C 2 .
  • the line segment C 1 C 3 can be equally divided into n parts (n is an integer greater than 2), and the first path 3 and the second path 4 generated under the condition that each equalization point is taken as point C 2 can be compared The maximum absolute value of the curvature, and then the point C 2 that can obtain the maximum absolute value of the minimum curvature of the first path 3 and the second path 4 is taken as the final point C 2 .
  • points on the line segment C 1 C 3 may also be selected with a predetermined resolution, for example, one point is selected at intervals of 0.1 m on the line segment C 1 C 3 . Then compare the maximum absolute value of the curvature of the first path 3 and the second path 4 generated under the situation of using these points as point C 2 , and will be able to obtain the minimum value of the curvature of the first path 3 and the second path 4 The point C 2 with the largest absolute value is taken as the final point C 2 .
  • Those skilled in the art should understand that other ways can also be used to select a point on the line segment C 1 C 3 that can minimize the maximum absolute value of the curvature of the first path 3 and the second path 4 as the point C 2 .
  • the points C 1 , C 3 and Point C2 in steps S12 and S13, the points C 1 , C 3 and Point C2 . Similar to the above description about point C2 , those skilled in the art should understand that point C1 can be determined in a manner that minimizes the maximum absolute value of the curvature of the first path 3 and the second path 4 in various ways , point C 3 and point C 2 . For example, with the minimum maximum absolute value of the curvature of the first path 3 and the second path 4 as the optimization objective, the positions of point C 1 , point C 3 , and point C 2 are determined using an optimization algorithm.
  • Fig. 6 schematically shows a flowchart of a motion control method for a mobile robot 1 according to an exemplary embodiment of the present invention.
  • Fig. 7 schematically shows a replaced global path 5 obtained by using a motion control method according to an exemplary embodiment of the present invention.
  • the motion control method includes the following steps:
  • S22 Select a first point on the global path 5 and a second point closer to the end point of the global path 5 than the first point, with the first point as the starting point A and the second point as the end point B, and execute according to The path planning method of the present invention is used to obtain a planned path for the mobile robot 1;
  • the original global route 5 can be obtained by using any applicable known method, for example, it can be planned by the A-star algorithm.
  • various factors may need to be considered, such as obstacle avoidance, shortest time, etc.
  • the resulting global path 5 may not meet the pose requirements of the target parking point.
  • the mobile robot 1 moving according to the original global path 5 may not be able to park at the target parking point in an accurate direction, resulting in the inability of the mobile robot 1 to accurately dock with the charging pile 2, or causing the mobile robot 1 to have to carry out charging after reaching the target parking point. Additional pose adjustments. Utilizing the motion control method according to the present invention is beneficial for the mobile robot 1 to accurately park at a specific pose.
  • the features and advantages described above for the path planning method are also correspondingly applicable to the motion control method.
  • the motion control method can be carried out, for example, by means of a controller of the mobile robot 1 .
  • the original global path 5 for the mobile robot 1 can be planned, for example by means of a controller.
  • the global path 5 for the mobile robot 1 may also be obtained from other equipment, such as a dispatch control system, by means of a communication device.
  • the predetermined berthing area is an area pre-defined for the position of the target berthing point T and covering the position of the target berthing point T .
  • a dedicated charging area 6 can be set for the mobile robot 1 working in the warehouse, at least one charging pile 2 is arranged in the charging area 6, and the mobile robot 1 that needs to be charged can move to a specific charging position in the charging area 6 to Dock with charging pile 2 to charge.
  • the charging area 6 is a flat barrier-free area, that is, no equipment unrelated to charging is arranged in the charging area 6 , so that the mobile robot 1 can move relatively freely in the charging area 6 without encountering obstacles.
  • a parking area can be predetermined for the charging location for the mobile robot 1 , which is set, for example, as the entire charging area 6 . Delimiting the parking area in advance and selecting the starting point A in the predetermined parking area can make the mobile robot 1 move along a smoother parking planning path after entering the parking area. When the mobile robot 1 needs to be charged and enters the parking area, it can start to move according to the parking planning path.
  • the pose and/or curvature of the mobile robot 1 at the starting point A may be correspondingly the same as the pose and/or curvature of the mobile robot 1 at the first point on the global path 5 .
  • the planned parking path can be smoothly embedded into the original global path 5 , so that the mobile robot 1 does not need to stop at the beginning of the planned parking path, and does not need to adjust to a specific direction at the beginning of the planned parking path.
  • Fig. 8 schematically shows a flowchart of a motion control method for a mobile robot 1 according to an exemplary embodiment of the present invention.
  • the motion control method includes the following steps:
  • the planned path is a parking planning path for moving the mobile robot 1 to the target parking point T and parking at the target parking point T with a desired parking posture
  • Step S32 starts to be executed after being within the predetermined parking area corresponding to the target parking point T.
  • the predetermined parking area is an area defined in advance for the location of the target parking point T and covers the location of the target parking point T.
  • the pose and/or curvature of the mobile robot 1 at the starting point A may be correspondingly the same as the pose and/or curvature of the mobile robot 1 at the current location.
  • the motion control method according to the present invention has corresponding features and similar principles to the path planning method according to the present invention.
  • the features and advantages described above for the path planning method also apply correspondingly for the motion control method.
  • the present invention also relates to a computer program product comprising computer program instructions which, when executed by one or more processors, enable said processors to perform the path planning method or motion control method.
  • the computer program product can be stored in a computer-readable storage medium.
  • the computer-readable storage medium may include, for example, high-speed random access memory, and may also include non-volatile memory, such as a hard disk, internal memory, plug-in hard disk, smart memory card, secure digital card, flash memory card, at least one magnetic disk storage device, Flash memory devices, or other volatile solid-state storage devices.
  • the processor may be a central processing unit, or other general-purpose processors, digital signal processors, application-specific integrated circuits, off-the-shelf programmable gate arrays or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, and the like.
  • a general-purpose processor may be a microprocessor or any conventional processor or the like.

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Abstract

L'invention concerne un procédé de planification de trajet pour un robot mobile. Le procédé comprend les étapes suivantes consistant à : acquérir une pose de point de départ et une courbure de point de départ τ0 à un point de départ A, et une pose de point d'arrivée et une courbure de point d'arrivée τ1 à un point d'arrivée B ; déterminer un point C1 et un point C3 ; déterminer un point C2 sur un segment de droite C1C3 ; déterminer un premier trajet et un second trajet, qui sont tous deux des courbes de Bézier d'ordre 3 répondant aux contraintes suivantes : un robot mobile satisfaisant à la pose de point de départ et à la courbure de point de départ τ0 au point de départ A selon le premier trajet, et satisfaisant à la pose de point d'arrivée et à la courbure de point d'arrivée τ1 au point d'arrivée B selon le second trajet, et selon le premier trajet et le second trajet, ayant une direction de vitesse linéaire au point C2 identique à un vecteur (A) et ayant une courbure de 0 ; et considérer un trajet formé par la jonction du premier trajet et du second trajet comme un trajet planifié ou une partie du trajet planifié. L'invention concerne également un procédé de commande de mouvement correspondant pour un robot mobile, et un produit de programme informatique correspondant. Au moyen de la présente invention, un trajet de déplacement d'un robot mobile peut être optimisé.
PCT/CN2022/123040 2021-12-29 2022-09-30 Procédé de planification de trajet, procédé de commande de mouvement et produit de programme informatique WO2023124339A1 (fr)

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