CN115586773A - Path planning method, device, equipment and medium for mobile robot - Google Patents
Path planning method, device, equipment and medium for mobile robot Download PDFInfo
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Abstract
The invention discloses a path planning method, a path planning device, path planning equipment and a path planning medium for a mobile robot. The method comprises the following steps: determining a target operation mode of the mobile robot from the candidate operation modes according to the task information of the mobile robot and/or the environment information of the driving area; determining a weight value of the candidate reference lines according to the target running mode, and determining a target reference line from the candidate reference lines according to the target running mode; and determining the target offset of the target reference line according to the weight value of the candidate reference line, and determining a target planning path according to the target offset and the target reference line. According to the technical scheme, the target offset of the target reference line is determined according to the determined weight value of the candidate reference line, and then the appropriate target planning path is determined for the mobile robot according to the target offset, so that the problem that the running path of the mobile robot is single is solved, the flexible running path is provided for the mobile robot according to the actual scene and the working task of the robot, and the path planning quality is improved.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a path planning method, a path planning device, path planning equipment and a path planning medium for a mobile robot.
Background
In recent years, with the continuous maturity and development of computer technology, control theory, artificial intelligence and other technologies, research on mobile robots has developed to a new stage, and path planning is one of the key technologies in mobile robot applications. The main goal of path planning is to obtain a collision-free safe path from an initial point to a target point through calculation in an application scene.
In the prior art, a reference line for path planning is generally a road center line of a road on which a mobile robot travels. In some special scenes, for example, unstructured roads in a narrow space of a closed area and when some dynamic and static obstacles are stored on the roads, the central lines of the roads are difficult to obtain; on the other hand, when the user flexibly selects the vehicle driving path according to the actual scene, the task execution may fail because only one road center line is used as the reference line for path planning.
Therefore, how to provide a more flexible reference line according to an actual scene becomes an urgent problem to be solved.
Disclosure of Invention
The invention provides a path planning method, a device, equipment and a medium of a mobile robot, which are used for solving the problem of single running path of the mobile robot, providing a flexible running path for the mobile robot according to an actual scene and a working task of the robot and improving the quality of path planning.
According to an aspect of the present invention, there is provided a path planning method of a mobile robot, the method including:
determining a target operation mode of the mobile robot from candidate operation modes according to task information of the mobile robot and/or environment information of a driving area;
determining a weight value of a candidate reference line according to the target running mode, and determining a target reference line from the candidate reference lines according to the target running mode; wherein the candidate reference lines comprise at least a map route and a travelable area centerline;
and determining the target offset of the target reference line according to the weight value of the candidate reference line, and determining a target planning path according to the target offset and the target reference line.
According to another aspect of the present invention, there is provided a path planning apparatus for a mobile robot, the apparatus including:
the mobile robot control system comprises an operation mode determining module, a control module and a control module, wherein the operation mode determining module is used for determining a target operation mode of the mobile robot from candidate operation modes according to task information of the mobile robot and/or environmental information of a driving area;
the selection module is used for determining the weight value of the candidate reference line according to the target running mode and determining a target reference line from the candidate reference line according to the target running mode; wherein the candidate reference lines comprise at least a map route and a travelable area centerline;
and the path planning module is used for determining the target offset of the target reference line according to the weight value of the candidate reference line and determining a target planning path according to the target offset and the target reference line.
According to another aspect of the present invention, there is provided an electronic apparatus including:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores a computer program executable by the at least one processor, the computer program being executable by the at least one processor to enable the at least one processor to perform a method of path planning for a mobile robot according to any of the embodiments of the invention.
According to another aspect of the present invention, there is provided a computer-readable storage medium storing computer instructions for causing a processor to implement a method for path planning of a mobile robot according to any one of the embodiments of the present invention when the computer instructions are executed.
According to the technical scheme of the embodiment of the invention, the target operation mode of the mobile robot is determined from the candidate operation modes according to the task information and/or the environment information of the driving area of the mobile robot, the weight value of the candidate reference line is determined according to the target operation mode, and the target reference line is determined from the candidate reference lines according to the target operation mode; and finally, determining the target offset of the target reference line according to the weight value of the candidate reference line, and determining a target planning path according to the target offset and the target reference line. According to the technical scheme, the target offset of the target reference line is determined according to the determined weight value of the candidate reference line, and then the appropriate target planning path is determined for the mobile robot according to the target offset, so that the problem that the traveling path of the mobile robot is single is solved, the flexible traveling path is provided for the mobile robot according to the actual scene and the working task of the robot, and the path planning quality is improved.
It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present invention, nor do they necessarily limit the scope of the invention. Other features of the present invention will become apparent from the following description.
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In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a flowchart of a path planning method for a mobile robot according to an embodiment of the present invention;
FIG. 2 is a schematic view of a driving area to which an embodiment of the present invention is applied;
FIG. 3 is a coordinate transformation diagram suitable for use with embodiments of the present invention;
fig. 4 is a schematic structural diagram of a path planning apparatus for a mobile robot according to a third embodiment of the present invention;
fig. 5 is a schematic structural diagram of an electronic device implementing the path planning method for a mobile robot according to the embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "candidate", "target", and the like in the description and claims of the present invention and the above-described drawings are used for distinguishing similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in other sequences than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example one
Fig. 1 is a flowchart of a path planning method for a mobile robot according to an embodiment of the present invention, where the embodiment is applicable to a case where a suitable operation path is planned for the mobile robot according to a task executed by the mobile robot and information of a driving area, and the method may be executed by a path planning apparatus for the mobile robot, where the path planning apparatus for the mobile robot may be implemented in a form of hardware and/or software, and may be configured in an electronic device having the path planning method for the mobile robot. As shown in fig. 1, the method includes:
and S110, determining a target operation mode of the mobile robot from candidate operation modes according to task information and/or environment information of a driving area of the mobile robot.
The mobile robot can be a machine device which automatically executes work, can receive the command of a user, can run a pre-programmed program, and can also act according to a principle schema established by an artificial intelligence technology. Such as automated guided vehicles AGVs, cleaning robots, handling robots, etc. The task information may be information of a task to be performed by the mobile robot, such as a parking task, a warehousing task, or a boarding and alighting task. The environment information may refer to an environment condition of an area where the mobile robot is to travel, such as obstacle information and road surface information on a road in the travel area.
The candidate operation mode may be determined according to different task information and/or environmental information of the travel area of the mobile robot, so that the mobile robot can better operate in the travel area and perform a task according to the target operation mode. Optionally, the candidate operation modes at least include: a map navigation mode, a map offset navigation mode, a travelable area navigation mode, a mission mode, and a general navigation mode. Under different operation modes, the requirements of the robot on the final driving route are different, the determined target operation mode refers to a priority mode of the operation of the mobile robot, and under the priority mode, the final driving route of the robot is more suitable for the environment requirement or the task execution requirement.
Specifically, task information and/or environment information of a driving area of the mobile robot are/is acquired, the task information and/or the environment information are/is analyzed, an analysis result is acquired, the analysis result is matched with the candidate operation mode, the operation mode suitable for the mobile robot is selected as a target operation mode, and then a suitable path is planned for the mobile robot. For example, the analysis result and the candidate operation mode may be selected manually, or a priority order may be preset for each candidate operation mode according to the importance degree of various task information and the complexity degree of environment information, and the complexity degree of the environment information may be determined according to the obstacle information in the driving environment of the robot and the road edge driving safety degree, for example, according to the priority order of a task mode, a drivable area navigation mode, a map offset navigation mode, a map mode, a comprehensive navigation mode, and the like; and when the robot automatically detects the obstacle information and the road edge information in the current environment, the expected lateral offset in the map offset navigation mode can be automatically adjusted. S120, determining a weight value of a candidate reference line according to the target running mode, and determining a target reference line from the candidate reference line according to the target running mode; wherein the candidate reference lines include at least a map route and a travelable area centerline.
The weight value may refer to an influence specific gravity value of the candidate reference line in the target planned path in the target operation mode. The candidate reference lines may be reference lines in each candidate operation mode, and the mobile robot may be guided to move according to the reference lines. The target reference line refers to a main reference route of the robot in the current target operation mode. A map route may refer to a travel route displayed on a map, such as a route displayed on a navigation system from a current point to a final destination. The travelable region center line may be a route acquired through analysis of the travel region road information, which is more suitable for the mobile robot to travel in the travelable region. The travelable area centerline may be determined from the map route and road information of the travel area and the obstacle boundary information.
Optionally, the target operation mode may also be set by segment, for example, navigation according to a task mode in executing a task segment; the mode of the map or the feasible region can be adjusted in the section where the task is not executed. For example, when some dynamic and static obstacles are stored on unstructured roads and roads in a narrow space of a closed area, the center line of a drivable area is difficult to accurately obtain, other path reference lines such as a map route can be automatically selected, and the weight values of the reference lines can be modified; for example, when a task is executed and an automatic parking task or an edge parking task needs to be performed, a task reference line is selected as a target reference line, the task reference line can be a candidate reference line determined according to a road edge, and a more flexible candidate reference line can be provided as the target reference line according to an actual scene.
In one possible embodiment, determining the weight value of the candidate reference line according to the target operation mode may include the following steps A1-A2:
step A1, a mapping relation between a candidate running mode and a weight value of a candidate reference line is established in advance.
And A2, determining the weight value of the corresponding candidate reference line according to the target operation mode and the mapping relation.
Specifically, the candidate operation mode and the candidate reference line corresponding to the candidate operation mode are obtained, the weight value between the candidate operation mode and the candidate reference line corresponding to the candidate operation mode under different task information of the mobile robot and environment information of a driving area is respectively determined, the mapping relation of the weight value between the candidate operation mode and the candidate reference line is established, and then after the target operation mode is determined for the mobile robot, the weight value of the corresponding candidate reference line can be determined according to the mapping relation, so that the influence degree of different candidate reference lines on a final planned path is determined according to the weight value, and the accuracy of the final planned path is improved.
For example, in the map navigation mode and the map offset navigation mode, the weight value of the corresponding candidate reference line is set to be greater than that of the center line of the travelable area; in the task mode, the weight value of the corresponding candidate reference line may be set according to different task types, for example, when the task type is a road middle execution type, the weight value of the corresponding candidate reference line is set to be a weight value of a map route smaller than a weight value of a travelable area center line, when the task type is a road both-side execution type, the weight value of the corresponding candidate reference line is set to be a weight value of a map route larger than a weight value of a travelable area center line, or when the candidate reference line includes a task reference line, the weight value of the task reference line is larger than the weight values of the map route and the travelable area center line; in the travelable area navigation mode, setting the weight value of the corresponding candidate reference line as the weight value of the center line of the travelable area larger than the weight value of the map route; and under the comprehensive navigation mode, the influence of each candidate reference line is synthesized, and different weight values are given.
According to the technical scheme, the mapping relation between the candidate running mode and the weight value of the candidate reference line is pre-established, so that the weight value of the corresponding candidate reference line in the target running mode in different target running modes can be clearly determined, the target offset of the target reference line can be accurately determined according to the weight value, the target offset can enable the target reference line to be smoother, and the influence of larger curvature change on a path can be solved.
In one possible embodiment, determining a target reference line from the candidate reference lines according to the target operation mode may include the following steps B1-B3:
and B1, if the target operation mode is a map navigation mode, a map offset navigation mode and a task mode, the target reference line is a map route.
B2, if the target operation mode is a travelable area navigation mode, the target reference line is a travelable area central line;
and B3, if the target operation mode is a comprehensive navigation mode, comprehensively determining the target reference line according to the map route and the center line of the travelable area.
The map navigation mode may be a mode in which the mobile robot is instructed to operate according to a reference line displayed on a map, that is, to travel in the middle of a road. The map offset navigation mode may be a mode in which the mobile robot is instructed to operate according to the reference line displayed on the map offset by the offset amount, i.e., to travel on the left or right side of the road by the offset amount. The map deviation navigation mode comprises an expected transverse deviation amount of a map route, namely the deviation amount of a reference line to the left side or the right side of a road, and the reference line is deviated to the right side of the road along the normal direction by l offset Distance, | offset I.e. the desired lateral offset. The task mode may be a mode in which, during the operation of the mobile robot, the offset of the reference line is determined according to the specific task information to indicate the operation of the mobile robot, that is, when the mobile robot is operated on a road, the mobile robot does not operate according to a fixed reference line, when the mobile robot is operated to different positions, the optimal planned path is decided, and the planning module completes local path planning such as tracking, obstacle detouring, lane changing and the like for the mobile robot to follow. The target reference line in the integrated navigation mode may be comprehensively determined by synthesizing the influence degrees of the candidate reference lines according to actual conditions, for example, comprehensively determining the target reference line according to different weight values of the candidate reference lines.
Specifically, task information of the mobile robot and environment information of a driving area are obtained, a target operation mode of the mobile robot is determined from candidate operation modes through analysis, and if the target operation mode is a map navigation mode, a map offset navigation mode and a task mode, a target reference line is a map route, namely a route is planned for the mobile robot according to a main route of the map route; if the target operation mode is the travelable area navigation mode, the target reference line is a center line of the travelable area, namely, a route is planned for the mobile robot by taking the center line of the travelable area as a main route.
According to the technical scheme, the target operation mode is accurately determined after the task information and/or the environment information of the driving area of the mobile robot are analyzed, the target reference line for planning the path of the mobile robot can be accurately determined from the candidate reference lines according to the target operation mode, different operation modes correspond to the weight values of different candidate reference lines, the offset of the target reference line is calculated according to the weight values of the target reference line and the candidate reference lines, the target reference line is subjected to smooth optimization processing based on the target offset, the finally obtained planned path is prevented from sudden change, and the accuracy of path planning is further improved.
S130, determining a target offset of a target reference line according to the weight value of the candidate reference line, and determining a target planning path according to the target offset and the target reference line.
The target offset may be an offset between the target reference line and the actual target mobile robot running route. After the target offset is accurately determined, the target reference line can be corrected according to the target offset, and then the target planning path planned for the mobile robot can be accurately determined.
In one possible embodiment, determining the target offset of the target reference line according to the weight value of the candidate reference line may include the following steps C1-C2:
and step C1, determining an offset target function according to the candidate reference line and the weight value.
And step C2, determining the offset corresponding to the minimum offset target function value as the target offset of the target reference line.
Specifically, the weight value of each candidate reference line in the target operation mode is obtained, an offset target function is established according to the weight value, the offset corresponding to the minimum value of the target function is obtained through accurate calculation, and the offset is determined as the target offset of the target reference line.
The formula for determining the offset target function can be as follows:
wherein J represents an offset objective function, w ref Weight value, w, representing a map route center Weight value, l, representing the center line of the travelable area i Represents the offset of the ith sampling point on the target reference line, N represents the total number of sampling points on the target reference line, l offset Expected lateral offset, l, representing a map route centeri The position of the ith sampling point on the center line of the travelable area is shown.
For example, in the map navigation mode and the map offset navigation mode, the weight value of the map route may be set to 0.8, the weight value of the center line of the travelable region may be set to 0.2, the setting value of the specific weight value is not limited, and the size of the weight value is to reflect the degree of influence of the candidate reference line on the final target planned path in different operation modes.
Furthermore, the constraints in the offset objective function further include at least one of lateral displacement, lateral velocity, lateral acceleration, lateral jerk, and path curvature.
Optionally, when all the constraint conditions are included, obtaining weight values of the constraint conditions in the offset objective function, and re-determining the offset objective function, where a determination formula of the offset objective function may be as follows:
wherein w l Represents the lateral shift weight, w l′ Represents the lateral velocity weight, w l″ Lateral acceleration weight, w l″′ Lateral jerk weight, w c Denotes a path curvature weight, < l >' i Represents the transverse speed l' of the ith sampling point on the target reference line i Represents the lateral acceleration, l ″, of the ith sample point on the target reference line' i Represents the lateral jerk of the ith sample point on the target reference line, c i Representing the curvature of the path of the ith sample point on the target reference line.
Optionally, the constraint condition in the determining formula of the offset objective function may be added or deleted according to an actual situation.
According to the technical scheme, a plurality of candidate reference lines are provided, the mobile robot can automatically select a current target operation mode according to actual conditions (such as tasks of the mobile robot and surrounding environment information), further, weight values corresponding to the target reference lines and the candidate reference lines are determined, an offset target function is accurately established according to the weight values, the target offset of the target reference lines is accurately obtained by solving the offset target function, then the target reference lines are smoothly corrected by utilizing the target offset, the problem that the mobile robot cannot move smoothly due to the fact that the target reference lines are large in bending degree or too many in bent lines is avoided, smooth driving of the mobile robot in the operation process is achieved, and accuracy of a target planned path is guaranteed.
According to the technical scheme of the embodiment of the invention, the target operation mode of the mobile robot is determined from the candidate operation modes according to the task information and/or the environment information of the driving area of the mobile robot, the weight value of the candidate reference line is determined according to the target operation mode, and the target reference line is determined from the candidate reference lines according to the target operation mode; and finally, determining the target offset of the target reference line according to the weight value of the candidate reference line, and determining a target planning path according to the target offset and the target reference line. According to the technical scheme, the target offset of the target reference line is determined according to the determined weight value of the candidate reference line, and then the appropriate target planning path is determined for the mobile robot according to the target offset, so that the problem that the running path of the mobile robot is single is solved, the flexible running path is provided for the mobile robot according to the actual scene and the working task of the robot, the path planning quality is further improved, and the planning time is reduced. In addition, the method and the device are also suitable for various scenes, such as driving and parking of the automatic driving vehicle, automatic charging of the automatic driving vehicle, automatic warehousing, goods taking and placing and the like, and multi-scene application of the mobile robot is realized.
Example two
Fig. 2 is a schematic structural diagram of a driving area to which the embodiment of the present invention is applied, and the embodiment describes the determination of the center line of the drivable area in detail in the above embodiment. Referring to FIG. 2,1 is a preset maximum boundary l of the left side of the road min 2 is the maximum boundary l on the right side of the preset road max 3 is a mobile robot, 4 is an obstacle of a road in a driving area
5 is the center line l of the road in the travelable area centeri 6 is a drivable region boundary l upper_i And l lower_i And 7 is a road edge
In this embodiment, first, before the mobile robot performs path planning, road information of a map route and a driving area and obstacle boundary information are acquired, and a certain distance range (L) before and after the mobile robot performs a task can be accurately determined by analyzing the map route back ,L forward ) And every s according to the advancing direction along the road step And (3) sampling the distance, wherein the number of sampling points is as follows:
N＝(L back +L forward )/s step
meanwhile, determining road boundary coordinate information (namely coordinate information of a maximum boundary 1 on the left side of the preset road and coordinate information of a maximum boundary 2 on the right side of the preset road), and then accurately determining a boundary 6 of a drivable area according to the drivable area of the irregular road, static obstacles, drivable gaps of low-speed dynamic obstacles and the road boundary coordinate information, so as to accurately determine the range of the drivable area.
After the drivable area range is determined, analyzing the road information of the drivable area and the boundary information of the obstacle to accurately obtain the coordinate information of each position of the road and the coordinate information of the boundary of the obstacle, and calculating the boundary coordinate information of the obstacle, the boundary coordinate information of the road and the coordinate information of each position of the road to accurately obtain the coordinate information of each point on the center line of the drivable area, so that the center line of the drivable area can be accurately determined.
Optionally, the travelable region centerline is determined according to the following formula:
wherein l centeri Coordinate information indicating an ith sampling point on the center line of the travelable region,
coordinate information of the right boundary of the travelable area representing the ith point on the travel path, l upper_i Coordinate information of the right boundary of the maximum travelable region, l, representing the ith point on the travel path safe The minimum safe distance between the outer contour of the mobile robot and the edge of the road is shown, the width of the mobile robot is shown,
indicating the road right boundary edge coordinate information of the ith point on the driving path,
coordinate information of the boundary of the obstacle on the right side representing the ith point on the traveling path, l max Represents the coordinate information of the maximum boundary on the right side of the preset road,
information of left boundary coordinates of travelable area representing ith point on traveling path, l lower_i Representing the coordinate information of the left boundary of the maximum travelable region of the ith point on the travel path,
indicating the road left boundary edge coordinate information of the ith point on the driving path,
coordinate information of the boundary of the left obstacle representing the ith point on the travel path, l min And representing the coordinate information of the maximum boundary on the left side of the preset road.
Specifically, the coordinate information is that a road coordinate system is established according to the road advancing direction under the road coordinate system, and the maximum value of the obstacle boundary coordinate, the road edge coordinate and the preset maximum boundary coordinate is used as the boundary coordinate of the actual maximum travelable area on the left side of the road, wherein the road edge coordinate is the actual edge of the irregular travel road. Similarly, in order to ensure the safety of the robot in the travelable area, the minimum value of the boundary coordinates of the obstacle, the edge coordinates of the road and the preset maximum boundary coordinates is used as the boundary coordinates of the actual maximum travelable area on the left side of the road, so that all factors which cause interference to the robot in traveling are avoided. Further, in order to ensure the safety of the robot in driving in the drivable area, the boundary information of the drivable area is further determined according to the width of the mobile robot and the reserved safety distance between the mobile robot and the edge of the road.
In the solution of the present application, the coordinate information is road coordinate information, and in the process of determining the target planned path, each coordinate information may be converted into global coordinate information, so that the coordinate information may be clearer, see fig. 3, when converting the road coordinate into the global coordinate, it is necessary to determine the course angle yaw of the road reference line s in the global coordinate system first i And then according to the course angle and the expected transverse offset l offset Determining coordinate points in the global coordinate system can be determined according to the following formula:
x′ ref_i ＝x i +l offset *sin(yaw i )
y′ ref_i ＝y i +l offset *cos(yaw i )
wherein (x) i ，y i ) Is road coordinate, (x' ref_i ，y′ ref_i ) Is a global coordinate.
According to the technical scheme, the travelable area of the mobile robot and the center line of the travelable area when the mobile robot travels in the travelable area are accurately obtained by analyzing the road information of the map route and the travelling area and the boundary information of the obstacles, so that a reference line is provided for the travelling route of the mobile robot, and further, in the route planning, a proper route can be planned for the mobile robot by using various reference lines, so that the accuracy of the route planning is realized.
EXAMPLE III
Fig. 4 is a schematic structural diagram of a path planning apparatus for a mobile robot according to a third embodiment of the present invention. As shown in fig. 4, the apparatus includes:
an operation mode determination module 210, configured to determine a target operation mode of the mobile robot from candidate operation modes according to task information of the mobile robot and/or environment information of a driving area.
A selecting module 220, configured to determine a weight value of a candidate reference line according to the target operation mode, and determine a target reference line from the candidate reference lines according to the target operation mode; wherein the candidate reference lines include at least a map route and a travelable area centerline.
And a path planning module 230, configured to determine a target offset of the target reference line according to the weight value of the candidate reference line, and determine a target planned path according to the target offset and the target reference line.
Optionally, the path planning module includes an offset determining unit, and is specifically configured to:
determining an offset target function according to the candidate reference line and the weight value;
determining the corresponding offset when the value of the offset target function is minimum as the target offset of the target reference line;
wherein, the determination formula of the offset objective function is as follows:
whereinJ denotes an offset objective function, w ref Weight value, w, representing a map route center Weight value representing center line of travelable area,/ i Represents the offset of the ith sampling point on the target reference line, N represents the total number of sampling points on the target reference line, l offset Representing the expected lateral offset, l, of the map route centeri The position of the ith sampling point on the center line of the travelable area is shown.
Optionally, the constraint condition in the offset objective function further includes at least one of: lateral displacement, lateral velocity, lateral acceleration, lateral jerk, and path curvature.
Optionally, the determining formula of the offset objective function is as follows:
wherein, w l Represents the lateral shift weight, w l′ Represents the lateral velocity weight, w l″ Lateral acceleration weight, w l″′ Lateral jerk weight, w c Denotes a path curvature weight, < l >' i Represents the transverse velocity, l ″, of the ith sample point on the target reference line i Represents the lateral acceleration, l 'of the ith sample point on the target reference line' i Represents the lateral jerk, c, of the ith sample point on the target reference line i Representing the curvature of the path of the ith sample point on the target reference line.
Optionally, the selecting module includes a weight value determining unit, and is specifically configured to:
pre-establishing a mapping relation between a candidate running mode and a weight value of a candidate reference line;
and determining the weight value of the corresponding candidate reference line according to the target operation mode and the mapping relation.
Optionally, the candidate operation modes at least include: the navigation system comprises a map navigation mode, a map offset navigation mode, a travelable area navigation mode, a task mode and a comprehensive navigation mode; the map offset navigation mode comprises an expected transverse offset of a map route;
optionally, the selection module includes a reference line determination unit, and is specifically configured to:
if the target operation mode is a map navigation mode, a map offset navigation mode and a task mode, the target reference line is a map route;
if the target operation mode is a travelable area navigation mode, the target reference line is a travelable area central line;
and if the target operation mode is a comprehensive navigation mode, comprehensively determining the target reference line according to the map route and the center line of the travelable area.
The path planning device of the mobile robot provided by the embodiment of the invention can execute the path planning method of the mobile robot provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
According to the technical scheme, the data acquisition, storage, use, processing and the like meet relevant regulations of national laws and regulations and do not violate the good custom of the public order.
Example four
The present disclosure also provides an electronic device, a readable storage medium, and a computer program product according to embodiments of the present disclosure.
Fig. 5 is a schematic structural diagram of an electronic device that can be used to implement the path planning method for a mobile robot according to the embodiment of the present invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 5, the electronic device 10 includes at least one processor 11, and a memory communicatively connected to the at least one processor 11, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, and the like, wherein the memory stores a computer program executable by the at least one processor, and the processor 11 can perform various suitable actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from a storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data necessary for the operation of the electronic apparatus 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.
A number of components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, or the like; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network such as the internet and/or various telecommunication networks.
The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, or the like. The processor 11 performs the various methods and processes described above, such as the method of path planning for a mobile robot.
In some embodiments, the method may be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the path planning of a mobile robot of the above described method may be performed. Alternatively, in other embodiments, the processor 11 may be configured by any other suitable means (e.g. by means of firmware) to perform the method of path planning of the mobile robot.
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), system on a chip (SOCs), complex Programmable Logic Devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be performed. A computer program can execute entirely on a machine, partly on a machine, as a stand-alone software package partly on a machine and partly on a remote machine or entirely on a remote machine or server.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user may provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.
The computing system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical host and VPS service are overcome.
It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present invention may be executed in parallel, sequentially, or in different orders, and are not limited herein as long as the desired results of the technical solution of the present invention can be achieved.
The above-described embodiments should not be construed as limiting the scope of the invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A path planning method for a mobile robot, comprising:
determining a target operation mode of the mobile robot from candidate operation modes according to task information of the mobile robot and/or environment information of a driving area;
determining a weight value of a candidate reference line according to the target running mode, and determining a target reference line from the candidate reference lines according to the target running mode; wherein the candidate reference lines comprise at least a map route and a travelable area centerline;
and determining the target offset of the target reference line according to the weight value of the candidate reference line, and determining a target planning path according to the target offset and the target reference line.
2. The method of claim 1, wherein determining the target offset of the target reference line according to the weight value of the candidate reference line comprises:
determining an offset objective function according to the candidate reference line and the weight value;
determining the corresponding offset when the value of the offset target function is minimum as the target offset of the target reference line;
wherein, the determination formula of the offset objective function is as follows:
wherein J represents an offset objective function, w ref Weight value, w, representing a map route center Weight value, l, representing the center line of the travelable area i Represents the offset of the ith sampling point on the target reference line, N represents the total number of sampling points on the target reference line, l offset Representing the expected lateral offset, l, of the map route centeri The position of the ith sampling point on the center line of the travelable area is shown.
3. The method of claim 2, wherein the constraints in the offset objective function further include at least one of: lateral displacement, lateral velocity, lateral acceleration, lateral jerk, and path curvature.
4. The method of claim 3, wherein the offset objective function is determined by the following equation:
wherein w l Representing the lateral shift weight, w l′ Represents the lateral velocity weight, w l″ Lateral acceleration weight, w l″′ Lateral jerk weight, w c Representing the path curvature weight,/ i ' represents the lateral velocity of the ith sample point on the target reference line, l i "represents the lateral acceleration of the ith sample point on the target reference line, /) i "' denotes the lateral jerk of the ith sample point on the target reference line, c i Representing the curvature of the path of the ith sample point on the target reference line.
5. The method according to any one of claims 1-4, wherein determining the weight value of the candidate reference line according to the target operation mode comprises:
pre-establishing a mapping relation between a candidate running mode and a weight value of a candidate reference line;
and determining the weight value of the corresponding candidate reference line according to the target operation mode and the mapping relation.
6. The method of claim 1, wherein the candidate operating modes comprise at least: the navigation system comprises a map navigation mode, a map offset navigation mode, a travelable area navigation mode, a task mode and a comprehensive navigation mode; the map offset navigation mode includes an expected lateral offset of a map route.
7. The method of claim 6, wherein determining a target reference line from the candidate reference lines according to the target operating mode comprises:
if the target operation mode is a map navigation mode, a map offset navigation mode and a task mode, the target reference line is a map route;
if the target operation mode is a travelable area navigation mode, the target reference line is a travelable area central line;
and if the target operation mode is a comprehensive navigation mode, the target reference line is comprehensively determined according to the map route and the center line of the drivable area.
8. A path planning apparatus for a mobile robot, comprising:
the mobile robot control system comprises an operation mode determining module, a control module and a control module, wherein the operation mode determining module is used for determining a target operation mode of the mobile robot from candidate operation modes according to task information of the mobile robot and/or environmental information of a driving area;
the selection module is used for determining the weight value of the candidate reference line according to the target running mode and determining the target reference line from the candidate reference line according to the target running mode; wherein the candidate reference lines comprise at least a map route and a travelable area centerline;
and the path planning module is used for determining the target offset of the target reference line according to the weight value of the candidate reference line and determining a target planning path according to the target offset and the target reference line.
9. An electronic device, characterized in that the electronic device comprises:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the method of path planning for a mobile robot of any one of claims 1-7.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium stores computer instructions for causing a processor to, when executed, implement the path planning method for a mobile robot according to any one of claims 1-7.
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