Title:
PATH PLANNING METHOD AND APPARATUS AND READABLE STORAGE MEDIUM
Document Type and Number:
WIPO Patent Application WO/2023/155923
Kind Code:
A1
Abstract:
A path planning method comprises: acquiring a motion space, starting point position, and end point position of a moving object, and obstacle information (S100); in the motion space, constructing a first exploration tree starting from the starting point position, and constructing a second exploration tree starting from the end point position, wherein the first exploration tree and the second exploration tree grow in opposite directions according to the obstacle information (S200); and when the distance between a first tree node grown by the first exploration tree and a second tree node grown by the second exploration tree is not greater than a preset step length, connecting the first exploration tree and the second exploration tree to obtain a planned path of the moving object (S300). The described method can effectively improve the obstacle avoidance effect of a build path and shorten the path planning time. The present application further relates to a path planning apparatus and a computer-readable storage medium.
Inventors:
WU DAN (CN)
XIN RUISHAN (CN)
XIN RUISHAN (CN)
Application Number:
PCT/CN2023/077432
Publication Date:
August 24, 2023
Filing Date:
February 21, 2023
Export Citation:
Assignee:
ZTE CORP (CN)
International Classes:
G01C21/20; G05D1/02
Foreign References:
| CN113934206A | 2022-01-14 | |||
| CN113204238A | 2021-08-03 | |||
| CN109839110A | 2019-06-04 | |||
| CN112462785A | 2021-03-09 | |||
| CN112923944A | 2021-06-08 | |||
| CN110509279A | 2019-11-29 | |||
| US20110106306A1 | 2011-05-05 | |||
| US20120277907A1 | 2012-11-01 | |||
| JP2009211571A | 2009-09-17 |
Attorney, Agent or Firm:
JIAQUAN IP LAW (CN)
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