CN114111825A - Path planning method and device, electronic equipment, engineering machinery and storage medium - Google Patents
Path planning method and device, electronic equipment, engineering machinery and storage medium Download PDFInfo
- Publication number
- CN114111825A CN114111825A CN202111374081.8A CN202111374081A CN114111825A CN 114111825 A CN114111825 A CN 114111825A CN 202111374081 A CN202111374081 A CN 202111374081A CN 114111825 A CN114111825 A CN 114111825A
- Authority
- CN
- China
- Prior art keywords
- obstacle
- path
- circular
- area
- expansion area
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3446—Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags, using precalculated routes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
- G01C21/3804—Creation or updating of map data
- G01C21/3833—Creation or updating of map data characterised by the source of data
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a path planning method, a path planning device, electronic equipment, engineering machinery and a storage medium. The method comprises the following steps: detecting an obstacle in the global planned path according to the safety distance; determining an expansion area according to the size information of the obstacle and the safety distance, wherein the expansion area is formed by splicing at least three circular areas; and generating an obstacle avoidance path at the obstacle according to the expansion area. According to the embodiment of the invention, the obstacle in the global planned path is detected according to the safe distance, and then the expansion area is determined according to the size information and the safe distance of the obstacle, so that the problems of large transverse displacement deviation change rate and curvature change rate existing in the naturally generated obstacle avoidance detour path are solved, the body twist of the engineering machinery running along the obstacle avoidance detour path is reduced, and the running safety of the engineering machinery is improved to a certain extent.
Description
Technical Field
The embodiment of the invention relates to the technical field of computer application, in particular to a path planning method, a path planning device, electronic equipment, engineering machinery and a storage medium.
Background
With the development of computer navigation technology, intelligent equipment is gradually widely applied. For intelligent equipment running in a two-dimensional plane, such as a sweeping robot, an indoor navigation robot, engineering machinery and the like, a planned path is required to be relied on for movement. In the process of path planning, map information including an obstacle area, a travelable area, a starting point, an ending point and the like needs to be set for the intelligent equipment, so that a path point list used by the intelligent equipment is determined. However, when the route planning method guides the unmanned engineering machinery to run, in order to avoid collision between the machinery and the obstacle, the obstacle can be expanded according to the size of the machinery and a reasonable turning radius, and then the obstacle is updated on a built-in map of the engineering machinery so as to update the planned route and generate a reasonable obstacle avoidance detour route. However, the existing obstacle avoidance expansion usually expands to the outside at equal intervals at the center point of the obstacle to form a circular or polygonal obstacle area, fig. 1 is a schematic diagram of the obstacle expansion in the prior art, and as shown in fig. 1, the generated detour path usually causes relatively prominent lateral displacement deviation and curvature change, and when the engineering machine with relatively large inertia and friction coefficient runs along the generated detour path, the engineering machine usually causes relatively strong body twisting, which becomes a safety hazard of the engineering machine running.
Disclosure of Invention
The invention provides a path planning method, a path planning device, electronic equipment, engineering machinery and a storage medium, which are used for generating a reasonable obstacle avoidance path, reducing transverse displacement deviation and curvature change, reducing the body twist of the engineering machinery running along the obstacle avoidance path and improving the running safety of the engineering machinery.
In a first aspect, an embodiment of the present invention provides a path planning method, where the method includes: detecting an obstacle in the global planned path according to the safety distance;
determining an expansion area according to the size information of the obstacle and the safety distance, wherein the expansion area is formed by splicing at least three circular areas;
and generating an obstacle avoidance path at the obstacle according to the expansion area.
In a second aspect, an embodiment of the present invention further provides a path planning apparatus, where the apparatus includes:
the obstacle detection module is used for detecting obstacles in the global planned path according to the safety distance;
the expansion area module is used for determining an expansion area according to the size information of the obstacle and the safety distance, wherein the expansion area is formed by splicing at least three circular areas;
and the obstacle avoidance planning module is used for generating an obstacle avoidance path at the obstacle according to the expansion area.
In a third aspect, an embodiment of the present invention further provides an electronic device, where the electronic device includes:
one or more processors;
a memory for storing one or more programs,
when the one or more programs are executed by the one or more processors, the one or more processors are caused to implement the path planning method according to the first aspect.
In a fourth aspect, an embodiment of the present invention further provides a construction machine, where the construction machine includes:
one or more radar sensors to detect obstacles in the globally planned path;
electronic equipment for implementing the path planning method according to the first aspect.
In a fifth aspect, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the method for path planning according to the first aspect is implemented.
According to the technical scheme provided by the embodiment of the invention, firstly, the obstacle in the global planned path is detected according to the safe distance, then the expansion area is determined according to the size information and the safe distance of the obstacle, wherein the expansion area is formed by splicing at least three circular areas, and finally, the obstacle avoidance path at the obstacle is generated according to the expansion area. According to the embodiment of the invention, the obstacle in the global planned path is detected according to the safe distance, and then the expansion area is determined according to the size information and the safe distance of the obstacle, so that the problems of larger transverse displacement deviation change rate and curvature change rate existing in the naturally generated obstacle avoidance detour path are solved, and the introduction of additional and complex track post-processing steps is avoided, so that the driving track of the unmanned engineering machinery is smoother and safer and conforms to the driving habit of human beings. Compared with the prior art, the adopted path planning method reduces the twisting and strong damping friction of the machine body of the engineering machinery running along the obstacle avoidance path, and improves the running safety of the engineering machinery to a certain extent.
Drawings
FIG. 1 is a schematic view of a prior art barrier expansion;
fig. 2 is a flowchart of a path planning method according to an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating a comparative difference between an elliptical expansion method and a splicing geometric circular expansion method according to an embodiment of the present invention;
fig. 4 is a flowchart of a path planning method according to a second embodiment of the present invention;
FIG. 5 is a schematic diagram of a barrier expansion region obtained by splicing circle sequences with equal radius scaling down according to a second embodiment of the present invention;
fig. 6 is a schematic diagram of the elongated obstacle divided into sub-obstacles to determine an expansion area according to the second embodiment of the present invention;
fig. 7 is a schematic structural diagram of a path planning apparatus according to a third embodiment of the present invention;
fig. 8 is a schematic structural diagram of an electronic device according to a fourth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be noted that, for convenience of description, only a part of the structures related to the present invention, not all of the structures, are shown in the drawings, and furthermore, embodiments of the present invention and features of the embodiments may be combined with each other without conflict.
Example one
Fig. 2 is a flowchart of a path planning method according to an embodiment of the present invention, where the present embodiment is applicable to a situation where a reasonable obstacle avoidance path is generated in time for an obstacle existing in a driving process of an engineering machine vehicle, and the method may be executed by a path planning device, and the device may be implemented in a hardware and/or software manner, and may be generally configured in an electronic device. The method specifically comprises the following steps:
and S210, detecting the obstacles in the global planned path according to the safety distance.
It is to be understood that a safe distance is to be understood as a safe distance between the work machine vehicle and an obstacle during travel. The safe distance is a safe distance set to avoid collision of the construction machine vehicle during traveling with an obstacle in the planned path. The engineering machinery vehicle may be a vehicle using an unmanned excavator, a loader, a road roller, a mine truck, and the like, and the implementation is not limited herein.
In this embodiment, the safe distance may be determined according to the length of the vehicle body of the construction machine vehicle, may also be determined according to past experience, and may also be measured according to experimental data, which is not limited in this embodiment. For example, taking the obstacle as a center, in the driving process of the engineering machinery vehicle, if the distance between the obstacle and the engineering machinery vehicle is greater than the distance between the body of one engineering machinery vehicle, the distance at this time can be considered as a safe distance; if the distance between the obstacle and the work machine vehicle is smaller than the distance of the body of one work machine vehicle, a collision will occur.
It is understood that the globally planned path may be a strategy for a travel process of the work machine vehicle from a starting point position to a destination position. Global path planning may divide path planning into global path planning based on a priori complete information and local path planning based on sensor information according to a degree of confidence in environmental information. From the viewpoint of whether the acquired barrier information is static or dynamic, the global path planning belongs to static planning, and the local path planning belongs to dynamic planning. The global path planning needs to master all environment information and carries out path planning according to all the information of the environment map; the local path planning only needs to acquire the environmental information in real time by a sensor, know the environmental map information and then determine the position of the map and the local obstacle distribution condition thereof, so that the optimal path from the current node to a certain sub-target node can be selected.
In this embodiment, the obstacle may be understood as an object detected by a sensor installed in the engineering machine vehicle, and the detected object may be a regular-shaped object or an irregular-shaped object, which is not limited herein. Wherein the sensor may be a radar sensor.
It should be noted that, during the running process of the engineering machinery vehicle, the distribution condition of the obstacles in the global planned path needs to be detected in real time by the sensor, so as to screen out the optimal path more quickly and optimally.
It should be noted that, the manner of detecting the obstacle in the global planned path according to the safe distance may be to detect an object in the global planned path by using a radar sensor, and determine the position distance to the obstacle; or detecting by using an obstacle detection model and marking the obstacles in the global planned path; the method can also be used for acquiring the current frame and the image of the N frames before the current frame in the global planning path, and then dividing the image according to each frame and calculating the confidence coefficient for detection. The present embodiment does not limit this.
S220, determining an expansion area according to the size information and the safety distance of the obstacle, wherein the expansion area is formed by splicing at least three circular areas.
The size information may be understood as size information of an obstacle detected by the construction machine vehicle during traveling, and may include information related to the length, width, area, and the like of the obstacle.
In the present embodiment, the expansion region may be understood as a region formed by expanding the obstacle according to information such as a vehicle body length and a width of the construction machine vehicle itself, information on a size of the obstacle, and a reasonable turning radius of the construction machine vehicle during traveling.
It should be noted that the expansion region is composed of at least three circular regions which are spliced together. A circular area is understood to mean an area formed within a particular circle. The specific center and radius are given by the area.
It should be noted that the sizes of three or more circular regions are different. The center of the circle in the middle is the center point of the obstacle sensed by the sensor, and the radius of the center point is calculated according to the size of the obstacle. The other circular areas are respectively distributed at two sides of the middle circular area.
In addition, when the expansion area is determined according to the size information and the safe distance of the obstacle during the running process of the construction machinery vehicle, the expansion circular areas need to be generated on both sides of the obstacle. It is considered that the obstacle to be inflated is an obstacle that is not marked in advance on the map but is temporarily sensed by the sensor during the travel of the construction machine vehicle, and therefore these inflated areas are also temporarily generated for detour, and are erased from the map after the detour is completed, and the map and the future route are not permanently affected.
In this embodiment, the manner of determining the expansion area according to the size information of the obstacle and the safe distance may be to determine whether the aspect ratio of the obstacle is smaller than an aspect ratio threshold according to the extracted size information of the obstacle; the shape of the virtual area formed by the expansion boundary may be the same as the chassis of the robot, and the size of the virtual area may be the same as the size of the chassis of the robot, and then the expansion area may be determined by selecting the virtual area from the map. The present embodiment is not limited thereto.
Optionally, the number of circular areas in the expansion area is equal to 5 or 7.
In the present embodiment, the number of circular regions in the expansion region may be 5 or 7.
It can be known that the expansion area is formed by splicing three or more circular areas, so that a formed course angle is smaller when a global planned path is carried out in the formed expansion area, the driving track of the engineering machinery vehicle is smoother and safer, the driving track conforms to the driving habit of human beings, and the driving safety of the engineering machinery vehicle is enhanced to a certain extent.
Fig. 3 is a schematic diagram illustrating a difference comparison between an elliptical expansion method and a splicing geometric circular expansion method according to an embodiment of the present invention. As can be seen from fig. 3, when the long-axis and short-axis ratios are selected by the elliptical expansion method, no matter how the long-axis and short-axis ratios are selected, the tangential direction of the end point of the long axis of the ellipse is always perpendicular to the driving direction of the engineering machinery vehicle, which means that if elliptical expansion is adopted, the curvature change is inevitably generated when the engineering machinery vehicle starts to detour near an obstacle in the driving process, and the local trajectory does not conform to the vehicle kinematics principle. In the splicing equal-ratio circle expansion method, the two ends of the splicing circular area converge to two singular points along with the equal-ratio reduction of the radius, and the tangential direction near the singular points is the same as the driving direction of the engineering machinery vehicle. In practice, the circular area and the standard analytical expression thereof have rotation invariance, so that the obstacle area of the spliced circular area can be defined by a very simple analytical expression no matter how the driving direction and the angle of the engineering machinery vehicle are, and any other figure tends to make the analytical expression more complicated than the standard form under the rotation transformation.
And S130, generating an obstacle avoidance path at the obstacle according to the expansion area.
The obstacle avoidance path can be understood as a path formed for avoiding an obstacle in the driving process of the engineering machinery vehicle.
It should be noted that, the manner of generating the obstacle avoidance path at the obstacle according to the expansion area may be to generate the obstacle avoidance path according to the tangential direction of each circular area in the expansion area; or constructing a potential field function, wherein the function value of the potential field function has a corresponding relation with the distance between the engineering machinery vehicle and the obstacle, and forming an obstacle avoidance path according to the corresponding relation; the obstacle avoidance method can also be used for replanning a path to avoid the obstacle when the engineering machinery vehicle senses that the obstacle exists on the path in front, so that an obstacle avoidance path is formed. The present embodiment does not limit this.
According to the technical scheme provided by the embodiment of the invention, firstly, the obstacle in the global planned path is detected according to the safe distance, then the expansion area is determined according to the size information of the obstacle and the safe distance, wherein the expansion area is formed by splicing at least three circular areas, and finally, the obstacle avoidance path at the obstacle is generated according to the expansion area. According to the embodiment of the invention, the obstacle in the global planned path is detected according to the safe distance, and then the expansion area is determined according to the size information and the safe distance of the obstacle, so that the problems of larger transverse displacement deviation change rate and curvature change rate existing in the naturally generated obstacle avoidance detour path are solved, and the introduction of additional and complex track post-processing steps is avoided, so that the driving track of the unmanned engineering machinery is smoother and safer and conforms to the driving habit of human beings. Compared with the prior art, the adopted path planning method reduces the twisting and strong damping friction of the machine body of the engineering machinery running along the obstacle avoidance path, and improves the running safety of the engineering machinery to a certain extent.
Example two
Fig. 4 is a flowchart of a path planning method according to a second embodiment of the present invention, which is further refined based on the foregoing embodiments. The method specifically comprises the following steps:
specifically, the present embodiment may detect an obstacle in the globally planned path according to the safety distance. The method comprises the following specific steps: s410 to S430.
S410, detecting the object in the global planned path by using the radar sensor, and determining whether the position distance between the object and the obstacle is larger than or equal to a safe distance.
The radar sensor can be understood as a detection device which detects distance, speed, direction and direction angle information of an object by using high-frequency microwaves, and can convert detected various object information into electric signals or other information in required forms to be output according to a certain rule so as to meet the requirements of information transmission, processing, storage, display, recording, control and the like. The radar sensor has the characteristics of small volume, light weight, high sensitivity, strong stability and the like. The radar sensor may be, for example, a laser radar sensor, or may be a Real-time kinematic (RTK) radar sensor.
It is understood that an object can be understood as meaning all shaped matter that is objectively present. The object in the global planned path detected by using the radar sensor may be a static object or a dynamic object, which is not limited in this embodiment.
In this embodiment, radar sensors may be used to detect objects in the globally planned path and determine the location distance to the obstacle. The position distance can be understood as the position distance between the radar sensor and the object in the global planned path. Whether the object detected by the sensor is an obstacle can be judged according to the position distance.
And S420, if so, determining that the object is a safe object.
A safe object may be understood as an object whose position distance from the obstacle in the globally planned path is within a safe distance from the radar sensor.
In this embodiment, if the positional distance of the obstacle is greater than or equal to the safe distance, the object at that time may be considered as a safe object.
And S430, if not, determining that the object is the obstacle.
In this embodiment, if the positional distance of the obstacle is smaller than the safe distance, the object at that time can be considered as the obstacle.
Specifically, the present embodiment may determine the expansion area according to the size information of the obstacle and the safety distance. The method comprises the following specific steps: s440 to S470.
And S440, extracting size information of the obstacle, wherein the size information at least comprises a length and a width.
It can be known that the slave radar sensor can completely capture the size information of the length, the width, the area and the like of the obstacle, and extract the size information of the obstacle detected by the radar sensor to judge whether the length and the width of the obstacle are in a reasonable range.
S450, determining whether the aspect ratio of the obstacle is smaller than the aspect ratio threshold value.
The aspect ratio is understood to be the ratio of the length to the width in the dimension information of the obstacle. It should be noted that the ratio of the length to the width of the obstacle is not fixed. Illustratively, the aspect ratio of the obstruction may be 1: 1; the ratio may be 1:3 or 2: 3. The present embodiment does not limit this.
In this embodiment, the aspect ratio threshold is a preset aspect ratio threshold range in which the field of view of the radar sensor can be completely captured, and is a preset aspect ratio threshold for facilitating obstacle segmentation.
In the embodiment, it is determined whether the aspect ratio of the obstacle is smaller than an aspect ratio threshold, and if it is determined that the aspect ratio of the obstacle is smaller than the aspect ratio threshold, the obstacle segmentation is not required; if the aspect ratio of the obstacle is determined to be greater than or equal to the aspect ratio threshold, the obstacle needs to be segmented.
And S460, if so, determining an expansion area for the obstacle along the course angle of the global planning path.
The heading angle can be understood as an included angle between the mass center speed of the engineering machinery vehicle and a transverse axis in a ground coordinate system.
In this embodiment, if the sensor detects that the aspect ratio of the obstacle is less than the aspect ratio threshold, then no obstacle segmentation is required and the heading angle directly along the global planned path may determine the inflation region of the obstacle.
Optionally, determining an expansion region for the obstacle along the course angle of the global planned path includes:
determining a circular area by taking the center of the barrier as a circle center according to a preset radius;
determining an intersection point of the circular area and the course angle, reducing the value of the preset radius according to the preset reduced value, and determining a second circular area by taking the intersection point as the circle center according to the reduced value of the preset radius;
repeating the generation process of the second circular splicing area by taking the second circular area as a new circular area until the number of the generated circular areas and the second circular area is greater than or equal to the threshold number;
the sum of the circular area and the area of each second circular area is taken as an expansion area.
The preset radius can be understood as a preset radius taking the center of the obstacle as a circle center. The radius of the circle center is calculated through the size of the obstacle.
In the present embodiment, the circular area may be understood as a circular area determined with the center of the obstacle as a center. In the present embodiment, the preset reduction value may be understood as an equal ratio reduction value of the second circular region set in advance. The second circular area can be understood as a circular area obtained by scaling down the circular area according to the radius in the circular area according to the proportion k after the circular area is determined by taking the center of the obstacle as the center of a circle. Where k represents the proportionality coefficient of the radius of the circular area.
In the present embodiment, the intersection point can be understood as a point where the circular area intersects the heading angle. The intersection point passes through the centers of the circular area and the second circular area along the ray direction, and the second circular areas on two sides of the circular area can be determined through the intersection point of the circular area and the heading angle. A circular area can be determined each time a point of intersection is passed.
After the circular area is determined with the center of the obstacle as the center of the circle, the circular area is the circular area of the largest circle, that is, the radius of the circular area is the largest. The other second circular areas are arranged on two sides of the circular area of the maximum circle along the driving direction of the engineering machinery vehicle, the centers of the other second circular areas are all located on the boundary of the adjacent larger circle, and the radius of the other second circular areas is reduced in an equal ratio according to the radius of the adjacent larger circle according to the ratio k.
It can be known that, from the driving direction of the construction machine vehicle, the radii of the circular area and each second circular area in the expansion area formed by the sum of the circular area and each second circular area gradually increase first, and gradually decrease after reaching the maximum radius of the circular area, rather than a certain constant radius value, so that the heading angle of the construction machine vehicle can be adjusted at a gentle rate during the driving process of the construction machine vehicle, and obstacle detouring driving is realized at a small curvature change rate. The twisting of the machine body of the engineering machine running along the obstacle avoidance path is reduced to a certain extent, and the running safety of the engineering machine is further improved.
In this embodiment, the manner of determining the expansion region for the obstacle along the course angle of the global planned path may be that, first, a circular region is determined according to a preset radius with the center of the obstacle as the center of a circle, then, an intersection point of the circular region and the course angle is determined, a value of the preset radius is reduced according to a preset reduction value, a second circular region is determined according to the reduced preset radius with the intersection point as the center of a circle, then, the second circular region is used as a new circular region, the generation process of the second circular splicing region is repeated until the number of the generated circular regions and the number of the second circular regions are greater than or equal to the threshold number, and finally, the sum of the circular region and the regions of the second circular regions is used as the expansion region. Wherein the threshold number may be understood as the number of the second circular areas set in advance.
Fig. 5 is a schematic diagram of a barrier expansion region obtained by splicing circle sequences with equal radius scaling down according to a second embodiment of the present invention. In fig. 5, the direction indicated by the black arrow is the driving direction of the construction machinery vehicle, the quadrangle (square) in the middle is the obstacle detected by the sensor, and the included angle between the dotted line and the driving direction of the construction machinery vehicle in fig. 5 is the heading angle of the global planned path. The expansion area of the obstacle in fig. 5 can be understood as a circular area centered on the obstacle and formed by splicing 3 second circular areas with successively decreasing radii on both sides of the circular area.
In this embodiment, for a new obstacle sensed by the sensor during the driving process of the construction machine vehicle, the expanded shape of the new obstacle is changed from a circular shape or a polygonal shape to a series of trends that the radius increases gradually from an equal ratio to a central maximum circular area and then gradually decreases, and the new obstacle is spliced along the driving direction of the construction machine vehicle to be in a shape similar to a shuttle shape, and the image of the new obstacle can be as shown in fig. 5.
In the present embodiment, the global planning path shown in fig. 5 is the result obtained after smoothing by the B-spline algorithm. The B-spline algorithm can be understood as that the whole curve is formed by connecting a section of curve and a section of curve, and is generated by adopting a segmented continuous multi-section mode. The center of a maximum circular area with an obstacle as the center is the center of the obstacle sensed by a sensor (usually a laser radar), and the radius of the center is calculated according to the size of the obstacle. And the other second circular area engineering mechanical vehicles are arranged at two sides in the driving direction, the centers of the second circular area engineering mechanical vehicles all fall on the boundary of the adjacent larger circle, and the radius of the second circular area engineering mechanical vehicles is reduced according to the equal ratio of the radius of the adjacent larger circle to the radius of the adjacent larger circle, wherein k is 1/3. Theoretically speaking, as long as k <1 is satisfied, a convergent, limited and approximate fusiform obstacle expansion area can be obtained finally by drawing an infinite number of circular areas, and in practice, only 5 or 7 splicing circles are needed to obtain a relatively ideal effect.
From the driving direction of the engineering machinery vehicle, the radius of the obstacle expansion area shows a trend of gradually increasing and then gradually decreasing instead of a certain constant radius, which means that the direction angle of the engineering machinery vehicle can be adjusted at a gentle speed in the driving process of the engineering machinery vehicle, and obstacle detouring driving is realized at a small curvature change rate. In addition, the sensor in the engineering machinery vehicle can be ensured to start obstacle detouring when a certain distance is left from the obstacle after sensing the obstacle instead of being flushed to the vicinity of the obstacle, and the obstacle detouring method is closer to the driving habit of human beings.
S470, if not, dividing the obstacle into at least one sub-obstacle with the length-width ratio smaller than the length-width ratio threshold, determining a sub-expansion area for each sub-obstacle along the course angle of the global planned path, and taking the sum of the sub-expansion areas as the expansion area.
It is understood that the sub-obstacles are each sub-obstacle formed by dividing an obstacle when the sensor detects a long-strip obstacle, that is, when the aspect ratio of the obstacle is greater than or equal to the aspect ratio threshold. When the obstacle is divided, the obstacle is divided into at least one sub-obstacle with the aspect ratio smaller than the aspect ratio threshold value.
In this embodiment, the sub dilation region may be understood as a sub dilation region formed by the course angles of the sub-obstacles along the global planned path. After each sub-obstacle is formed by segmentation, the sub-expansion area of each sub-obstacle can be determined along the course angle of the global planned path, and then the sum of the sub-expansion areas is used as the expansion area of the long-strip-shaped obstacle.
In this embodiment, when the sensor detects the elongated obstacle, that is, when the aspect ratio of the obstacle is greater than or equal to the aspect ratio threshold, the obstacle needs to be divided into at least one sub-obstacle having an aspect ratio smaller than the aspect ratio threshold, then each sub-expansion area formed by each sub-obstacle is determined along the heading angle of the global planned path, and finally the sum of each sub-expansion area is used as the expansion area of the elongated obstacle.
The manner in which the elongated obstacle is divided into sub-obstacles to form sub-expansion regions is the same as the manner in which expansion regions are formed when the obstacle division is not necessary. Firstly determining the size information and the safe distance of each sub-obstacle, then determining a circular area by taking the center of each sub-obstacle as the center of a circle according to a preset radius, then determining the intersection point of the circular area by taking the center of each sub-obstacle as the center of a circle and a course angle, reducing the value of the preset radius according to a preset reduction value, determining a second circular area of each sub-obstacle by taking the intersection point as the center of a circle according to the preset radius after the value is reduced, repeating the generation process of a second circular splicing area of each sub-obstacle by taking the second circular area of each sub-obstacle as a new circular area of each sub-obstacle until the number of the generated circular area of each sub-obstacle and the second circular area of each sub-obstacle is larger than or equal to a threshold value, and finally taking the sum of the circular area of each sub-obstacle and the area of the second circular area of each sub-obstacle as each sub-expansion area of each sub-obstacle, and the sum of the sub expansion areas is used as the expansion area of the elongated barrier.
For example, fig. 6 is a schematic diagram of the elongated obstacle divided into sub-obstacles to determine the expansion area according to the second embodiment of the present invention. The segmentation-followed expansion strategy was adopted for the elongated obstruction shown in fig. 6. The rectangular block in the middle of the circular area in fig. 6 is an elongated obstacle, and as can be seen from fig. 6, the elongated obstacle is divided into 6 cube sub-obstacles, and each sub-obstacle has a corresponding circular area formed by centering on each sub-obstacle. In addition, the two sides of the circular area formed by taking each sub-obstacle as the center are respectively provided with the second circular areas which are arranged on the two sides, the circle centers of the second circular areas are all located on the boundaries of adjacent larger circles, the radiuses of the second circular areas are in a gradually decreasing trend to form the sub-expansion areas, and finally the sub-expansion areas are combined to obtain the expansion area of the strip-shaped obstacle. Since the second circular areas on both sides of the circular area centered on each sub-obstacle are more complicated to draw, in this embodiment, only the circular area centered on each sub-obstacle is formed when the elongated obstacle is divided in fig. 6, and the forming process of each second circular area of each sub-obstacle is the same as that when the division is not needed.
Specifically, the present embodiment may generate an obstacle avoidance path at the obstacle according to the expansion area. The method comprises the following specific steps: and S480.
And S480, determining the tangential direction of each circular area in the expansion area, and generating an obstacle avoidance path according to each tangential direction.
Here, the tangential direction may be understood as a tangential direction in the vicinity of the singular point of each circular area, which is the same as the direction in which the construction machine vehicle travels.
In this embodiment, after determining the tangential directions of the circular areas in the expansion area, the obstacle avoidance path at the obstacle may be generated according to the tangential directions.
In the technical scheme provided by the embodiment of the invention, the radar sensor is used for detecting the object in the global planned path and determining the position distance between the object and the obstacle, and if the position distance is greater than or equal to the safety distance, the object is determined to be a safe object; otherwise, the obstacle is the obstacle; then extracting the size information of the obstacle, and determining whether the aspect ratio of the obstacle is smaller than an aspect ratio threshold value; if yes, determining an expansion area for the obstacle along the course angle of the global planned path; if not, dividing the obstacle into at least one sub-obstacle with the length-width ratio smaller than the length-width ratio threshold value, determining a sub-expansion area for each sub-obstacle along the course angle of the global planned path, and taking the sum of the sub-expansion areas as an expansion area; and finally, determining the tangential direction of each circular area in the expansion area, and generating an obstacle avoidance path according to each tangential direction. According to the embodiment of the invention, the size information of the obstacles is extracted to determine whether the length-width ratio of the obstacles is smaller than the length-width ratio threshold value or not, so that the problem that all the obstacles are processed by a unified method is solved, the expansion area is determined for the obstacles directly along the course angle of the global planned path for the obstacles which do not need to be cut, the obstacles which need to be cut are cut into the sub-obstacles firstly, then the sub-expansion areas are determined for the sub-obstacles, and the sum of the sub-expansion areas is used as the expansion area, so that the generated global planned path has a smaller curvature change rate and a smaller transverse displacement change rate, and meanwhile, the appearance, smoothness and safety of the engineering mechanical vehicle in the bypassing process are higher.
EXAMPLE III
Fig. 7 is a schematic structural diagram of a path planning apparatus according to a third embodiment of the present invention, where the path planning apparatus provided in this embodiment may be implemented by software and/or hardware, and may be configured in a server to implement a path planning method according to the third embodiment of the present invention. As shown in fig. 7, the apparatus may specifically include: an obstacle detection module 710, an expansion region determination module 720, and an obstacle avoidance planning module 730.
The obstacle detection module 710 is configured to detect an obstacle in the globally planned path according to the safe distance;
an expansion area determination module 720, configured to determine an expansion area according to the size information of the obstacle and the safety distance, where the expansion area is formed by splicing at least three circular areas;
and an obstacle avoidance planning module 730, configured to generate an obstacle avoidance path at the obstacle according to the expansion area.
According to the technical scheme provided by the embodiment of the invention, firstly, the obstacle detection module detects the obstacles in the global planned path according to the safe distance, then the expansion area determination module determines the expansion area according to the size information and the safe distance of the obstacles, wherein the expansion area is formed by splicing at least three circular areas, and finally the obstacle avoidance planning module generates the obstacle avoidance path at the obstacles according to the expansion area. According to the embodiment of the invention, the obstacle in the global planned path is detected according to the safe distance, and then the expansion area is determined according to the size information and the safe distance of the obstacle, so that the problems of larger transverse displacement deviation change rate and curvature change rate existing in the naturally generated obstacle avoidance detour path are solved, and the introduction of additional and complex track post-processing steps is avoided, so that the driving track of the unmanned engineering machinery is smoother and safer and conforms to the driving habit of human beings. Compared with the prior art, the adopted path planning method reduces the twisting and strong damping friction of the machine body of the engineering machinery running along the obstacle avoidance path, and improves the running safety of the engineering machinery to a certain extent.
Optionally, on the basis of the foregoing embodiments, the obstacle detecting module 710 may specifically include:
a position distance determination unit for detecting an object in the globally planned path using a radar sensor and determining a position distance to the obstacle;
a safe object determination unit, configured to determine that the object is a safe object if the position distance is greater than or equal to the safe distance;
and the obstacle determining unit is used for determining that the object is the obstacle if the position distance is smaller than the safe distance.
Optionally, on the basis of the foregoing embodiments, the expansion region determining module 720 may specifically include:
an information extraction unit for extracting size information of the obstacle, wherein the size information includes at least a length and a width;
a threshold determination unit for determining whether an aspect ratio of the obstacle is smaller than an aspect ratio threshold;
a first expansion area determining unit, configured to determine, if yes, the expansion area for the obstacle along a course angle of the global planned path;
and if not, dividing the obstacle into at least one sub-obstacle with the aspect ratio smaller than the aspect ratio threshold, determining a sub-expansion area for each sub-obstacle along the course angle of the global planned path, and taking the sum of the sub-expansion areas as the expansion area.
Optionally, the first expansion region determining unit may include:
the first circular area determining subunit is used for determining a circular area by taking the center of the obstacle as a circle center according to a preset radius;
a second circular area determining subunit, configured to determine an intersection point of the circular area and the heading angle, reduce a value of the preset radius according to a preset reduction value, and determine a second circular area according to the reduced value of the preset radius with the intersection point as a center of a circle;
a threshold number generation subunit, configured to repeat the generation process of the second circular splicing region with the second circular region as a new circular region until the number of generated circular regions and second circular regions is greater than or equal to a threshold number;
a region synthesis subunit configured to take a sum of the circular regions and a region of each of the second circular regions as the expansion region.
Optionally, on the basis of the foregoing embodiments, the obstacle avoidance planning module 730 may include:
and the path generating unit is used for determining the tangential direction of each circular area in the expansion area and generating the obstacle avoidance path according to each tangential direction.
Optionally, in an embodiment, the number of circular areas in the expansion area is equal to 5 or 7.
The path planning device provided by the embodiment of the invention can execute the path planning method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
Example four
Fig. 8 is a schematic structural diagram of an electronic device according to a fourth embodiment of the present invention, as shown in fig. 8, the electronic device includes a processor 810, a memory 820, an input device 830, and an output device 840; the number of the processors 810 in the device may be one or more, and one processor 810 is taken as an example in fig. 8; the processor 810, the memory 820, the input device 830 and the output device 840 in the apparatus may be connected by a bus or other means, for example, in fig. 8.
The memory 820 is a computer-readable storage medium, and can be used for storing software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the path planning method in the embodiment of the present invention (for example, the obstacle detection module 710, the expansion area determination module 720, and the obstacle avoidance planning module 730 in the path planning apparatus). The processor 810 executes various functional applications of the device and data processing by executing software programs, instructions and modules stored in the memory 820, that is, implements the path planning method described above.
The memory 820 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory 820 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the memory 820 may further include memory located remotely from the processor 810, which may be connected to a device/terminal/server through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 830 may be used to receive input numeric or character information and generate key signal inputs related to user settings and function controls of the apparatus. The output device 840 may include a display device such as a display screen.
EXAMPLE five
The fifth embodiment of the present invention further provides an engineering machine, where the engineering machine provided in this embodiment may be implemented by one or more radar sensors, and may be configured in an electronic device to implement the path planning method in the embodiment of the present invention.
The construction machine includes:
one or more radar sensors to detect obstacles in the globally planned path;
the electronic device is used for realizing the path planning method in the embodiment of the invention.
In this embodiment, the working machine is an important component of the equipment industry. In general terms, a construction machine is understood to be a construction machine which is necessary for the comprehensive mechanized construction of construction works, mobile crane handling operations and various construction works. The work machine may include a loader, excavator, crane, roller, mine card, and the like.
In the embodiment, both the electronic device and the radar sensor are installed at the front end of the engineering machinery vehicle. The electronic device may be a vehicle-mounted computer in the engineering machinery vehicle, or may be a T-box (vehicle-mounted terminal host) in the engineering machinery vehicle, and this embodiment is not limited herein.
In this embodiment, electronic devices and radar sensors of different sizes and different quantities can be installed according to information such as the length and width of the vehicle body and the width of the vehicle head of the vehicle in the engineering machine. For example, when the body of a vehicle in an engineering machine is long and wide, electronic equipment and radar sensors with large relative sizes can be installed, and the number of the electronic equipment and the number of the radar sensors are respectively 3, so that obstacles appearing in the driving process can be judged more accurately.
EXAMPLE six
An embodiment of the present invention further provides a storage medium containing computer-executable instructions, which when executed by a computer processor, perform a path planning method, including:
detecting an obstacle in the global planned path according to the safety distance;
determining an expansion area according to the size information of the obstacle and the safety distance, wherein the expansion area is formed by splicing at least three circular areas;
and generating an obstacle avoidance path at the obstacle according to the expansion area.
Of course, the storage medium provided by the embodiment of the present invention contains computer-executable instructions, and the computer-executable instructions are not limited to the operations of the method described above, and may also perform related operations in the path planning method provided by any embodiment of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
It should be noted that, in the embodiment of the path planning apparatus, each included unit and each included module are only divided according to functional logic, but are not limited to the above division, as long as the corresponding function can be implemented; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A method of path planning, the method comprising:
detecting an obstacle in the global planned path according to the safety distance;
determining an expansion area according to the size information of the obstacle and the safety distance, wherein the expansion area is formed by splicing at least three circular areas;
and generating an obstacle avoidance path at the obstacle according to the expansion area.
2. The method of claim 1, wherein the detecting the obstacle in the globally planned path according to the safety distance comprises:
detecting an object in the globally planned path using a radar sensor and determining a positional distance to the obstacle;
if the position distance is greater than or equal to the safety distance, determining that the object is a safe object;
and if the position distance is smaller than the safety distance, determining that the object is the obstacle.
3. The method of claim 1, wherein determining an expansion area based on the size information of the obstacle and the safe distance comprises:
extracting size information of the obstacle, wherein the size information at least comprises a length and a width;
determining whether an aspect ratio of the obstruction is less than an aspect ratio threshold;
if so, determining the expansion area for the obstacle along the course angle of the global planned path;
if not, the obstacle is divided into at least one sub-obstacle with the length-width ratio smaller than the length-width ratio threshold value, a sub-expansion area is determined for each sub-obstacle along the course angle of the global planning path, and the sum of the sub-expansion areas is used as the expansion area.
4. The method of claim 3, wherein determining the inflation region for the obstacle along a heading angle of the global planned path comprises:
determining a circular area by taking the center of the barrier as a circle center according to a preset radius;
determining an intersection point of the circular area and the course angle, reducing the value of the preset radius according to a preset reduced value, and determining a second circular area by taking the intersection point as a circle center according to the preset radius after the value is reduced;
repeating the generation process of the second circular splicing region with the second circular region as a new circular region until the number of generated circular regions and second circular regions is greater than or equal to a threshold number;
the sum of the circular areas and the area of each of the second circular areas is taken as the expansion area.
5. The method of claim 1, wherein the generating an obstacle avoidance path at the obstacle from the expanded region comprises:
determining the tangential direction of each circular area in the expansion area, and generating the obstacle avoidance path according to each tangential direction.
6. The method of claim 1, wherein the number of circular areas within the expansion area is equal to 5 or 7.
7. A path planning apparatus, the apparatus comprising:
the obstacle detection module is used for detecting obstacles in the global planned path according to the safety distance;
the expansion area module is used for determining an expansion area according to the size information of the obstacle and the safety distance, wherein the expansion area is formed by splicing at least three circular areas;
and the obstacle avoidance planning module is used for generating an obstacle avoidance path at the obstacle according to the expansion area.
8. An electronic device, characterized in that the electronic device comprises:
one or more processors;
a memory for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement the path planning method of any of claims 1-6.
9. A work machine, characterized in that the work machine comprises:
one or more radar sensors to detect obstacles in the globally planned path;
electronic device for implementing a path planning method according to any of claims 1-6.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the path planning method according to any one of claims 1-6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111374081.8A CN114111825B (en) | 2021-11-19 | 2021-11-19 | Path planning method, path planning device, electronic equipment, engineering machinery and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111374081.8A CN114111825B (en) | 2021-11-19 | 2021-11-19 | Path planning method, path planning device, electronic equipment, engineering machinery and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114111825A true CN114111825A (en) | 2022-03-01 |
| CN114111825B CN114111825B (en) | 2024-06-28 |
Family
ID=80397936
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111374081.8A Active CN114111825B (en) | 2021-11-19 | 2021-11-19 | Path planning method, path planning device, electronic equipment, engineering machinery and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114111825B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114964142A (en) * | 2022-05-20 | 2022-08-30 | 合肥工业大学 | Visual navigation method of railway signal mechanical room inspection robot |
| CN115285116A (en) * | 2022-08-30 | 2022-11-04 | 上汽通用五菱汽车股份有限公司 | Vehicle obstacle avoidance method and device, electronic equipment and readable storage medium |
| CN115629612A (en) * | 2022-12-19 | 2023-01-20 | 科大讯飞股份有限公司 | Obstacle avoidance method, device, equipment and storage medium |
| CN116380110A (en) * | 2023-06-07 | 2023-07-04 | 上海伯镭智能科技有限公司 | Real-time path planning method based on big data unmanned vehicle |
| CN117073709A (en) * | 2023-10-17 | 2023-11-17 | 福瑞泰克智能系统有限公司 | Path planning method, path planning device, computer equipment and storage medium |
| CN117806334A (en) * | 2024-02-29 | 2024-04-02 | 广东电网有限责任公司阳江供电局 | Underwater robot obstacle avoidance path planning method and system based on artificial intelligence |
| CN117948984A (en) * | 2024-03-26 | 2024-04-30 | 广东省科学院智能制造研究所 | Path planning method of mobile operation robot in variable width traffic domain |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110908387A (en) * | 2019-12-13 | 2020-03-24 | 齐鲁工业大学 | A kind of dynamic environment water surface unmanned boat path planning method, medium and electronic equipment |
| CN111857135A (en) * | 2020-06-30 | 2020-10-30 | 北京百度网讯科技有限公司 | Obstacle avoidance method, apparatus, electronic device and computer storage medium for vehicle |
| CN112034848A (en) * | 2020-08-13 | 2020-12-04 | 驭势科技（北京）有限公司 | Obstacle avoiding method and device, electronic equipment and storage medium |
| CN112229414A (en) * | 2020-10-22 | 2021-01-15 | 广州极飞科技有限公司 | Method and device for generating obstacle avoidance route, unmanned equipment and storage medium |
| CN113253717A (en) * | 2021-03-17 | 2021-08-13 | 武汉科技大学 | Indoor mobile robot local path planning method based on dynamic barrier motion information |
-
2021
- 2021-11-19 CN CN202111374081.8A patent/CN114111825B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110908387A (en) * | 2019-12-13 | 2020-03-24 | 齐鲁工业大学 | A kind of dynamic environment water surface unmanned boat path planning method, medium and electronic equipment |
| CN111857135A (en) * | 2020-06-30 | 2020-10-30 | 北京百度网讯科技有限公司 | Obstacle avoidance method, apparatus, electronic device and computer storage medium for vehicle |
| US20210237771A1 (en) * | 2020-06-30 | 2021-08-05 | Beijing Baidu Netcom Science And Technology Co., Ltd. | Method for vehicle avoiding obstacle, electronic device, and computer storage medium |
| CN112034848A (en) * | 2020-08-13 | 2020-12-04 | 驭势科技（北京）有限公司 | Obstacle avoiding method and device, electronic equipment and storage medium |
| CN112229414A (en) * | 2020-10-22 | 2021-01-15 | 广州极飞科技有限公司 | Method and device for generating obstacle avoidance route, unmanned equipment and storage medium |
| CN113253717A (en) * | 2021-03-17 | 2021-08-13 | 武汉科技大学 | Indoor mobile robot local path planning method based on dynamic barrier motion information |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114964142A (en) * | 2022-05-20 | 2022-08-30 | 合肥工业大学 | Visual navigation method of railway signal mechanical room inspection robot |
| CN115285116A (en) * | 2022-08-30 | 2022-11-04 | 上汽通用五菱汽车股份有限公司 | Vehicle obstacle avoidance method and device, electronic equipment and readable storage medium |
| CN115629612A (en) * | 2022-12-19 | 2023-01-20 | 科大讯飞股份有限公司 | Obstacle avoidance method, device, equipment and storage medium |
| CN116380110A (en) * | 2023-06-07 | 2023-07-04 | 上海伯镭智能科技有限公司 | Real-time path planning method based on big data unmanned vehicle |
| CN116380110B (en) * | 2023-06-07 | 2023-08-04 | 上海伯镭智能科技有限公司 | Real-time path planning method based on big data unmanned vehicle |
| CN117073709A (en) * | 2023-10-17 | 2023-11-17 | 福瑞泰克智能系统有限公司 | Path planning method, path planning device, computer equipment and storage medium |
| CN117073709B (en) * | 2023-10-17 | 2024-01-16 | 福瑞泰克智能系统有限公司 | Path planning method, path planning device, computer equipment and storage medium |
| CN117806334A (en) * | 2024-02-29 | 2024-04-02 | 广东电网有限责任公司阳江供电局 | Underwater robot obstacle avoidance path planning method and system based on artificial intelligence |
| CN117806334B (en) * | 2024-02-29 | 2024-05-14 | 广东电网有限责任公司阳江供电局 | Underwater robot obstacle avoidance path planning method and system based on artificial intelligence |
| CN117948984A (en) * | 2024-03-26 | 2024-04-30 | 广东省科学院智能制造研究所 | Path planning method of mobile operation robot in variable width traffic domain |
| CN117948984B (en) * | 2024-03-26 | 2024-05-31 | 广东省科学院智能制造研究所 | Path planning method of mobile operation robot in variable width traffic domain |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114111825B (en) | 2024-06-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN114111825B (en) | Path planning method, path planning device, electronic equipment, engineering machinery and storage medium | |
| CN113405558B (en) | Method for constructing autonomous driving map and related device | |
| CN111750886B (en) | Local path planning method and device | |
| CN111830979B (en) | Track optimization method and device | |
| CN111665852B (en) | Obstacle avoiding method and device, vehicle and storage medium | |
| CN112526999B (en) | Speed planning method, device, electronic equipment and storage medium | |
| CN109229109B (en) | Method, device, equipment and computer storage medium for judging vehicle driving direction | |
| CN110834631A (en) | Pedestrian avoiding method and device, vehicle and storage medium | |
| CN110956161B (en) | Autonomous mapping method and device and intelligent robot | |
| KR102595485B1 (en) | Method and apparatus for vehicle avoiding obstacle, electronic device, and computer storage medium | |
| CN114030483B (en) | Vehicle control method, device, electronic equipment and medium | |
| CN112327826A (en) | Path planning method, device, equipment and medium | |
| CN114511632A (en) | Construction method and device of parking space map | |
| CN113112846A (en) | Parking navigation method, device, equipment and storage medium | |
| CN116499487A (en) | Vehicle path planning method, device, equipment and medium | |
| CN110834626B (en) | Driving obstacle early warning method and device, vehicle and storage medium | |
| US20220229186A1 (en) | Object shape detection apparatus and method | |
| CN118068834A (en) | Path planning method, path planning device, vehicle and storage medium | |
| CN114355921B (en) | Vehicle tracking track generation method and device, electronic equipment and storage medium | |
| CN115183793B (en) | Planning method and system for obstacle expansion, electronic equipment and storage medium | |
| CN114859917B (en) | Unstructured road automatic driving path planning method, system and vehicle | |
| CN117261938A (en) | Path planning method, path planning device, vehicle and storage medium | |
| CN116215517A (en) | Collision detection method, device, apparatus, storage medium, and autonomous vehicle | |
| CN114719875B (en) | Automatic driving path planning method and device, electronic equipment, medium and vehicle | |
| CN113703455B (en) | Semantic information labeling method of laser point cloud and related equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |