Title:
GLOBAL PATH PLANNING METHOD, MOTION CONTROL METHOD AND COMPUTER PROGRAM PRODUCT
Document Type and Number:
WIPO Patent Application WO/2023/036044
Kind Code:
A1
Abstract:
Provided in the present invention is a global path planning method for a mobile robot. The global path planning method comprises: an initial planning step, which involves acquiring an initial global path for a mobile robot; a local path planning step, which involves the execution of the following sub-steps: selecting at least a part of the global path as an initial local path section, generating an optimized local path, such that the optimized local path is a curve having a continuous second-order derivative, and the optimized local path has the same start point, end point, start-point velocity direction, end-point velocity direction, start-point curvature and end-point curvature as the initial local path section, and replacing the initial local path section with the optimized local path, so as to form a new global path; and a global path determination step, which involves determining the new global path as a final global path. Provided are a motion control method for a mobile robot, and a computer program product. By means of the present invention, a motion trajectory of a mobile robot can be optimized.
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Inventors:
ZHAO AN (CN)
ZHANG CHUANFA (CN)
DI XINGCHAO (CN)
TANG WENQING (CN)
WU WENBO (CN)
ZHAO YUCHEN (CN)
ZHANG CHUANFA (CN)
DI XINGCHAO (CN)
TANG WENQING (CN)
WU WENBO (CN)
ZHAO YUCHEN (CN)
Application Number:
PCT/CN2022/116465
Publication Date:
March 16, 2023
Filing Date:
September 01, 2022
Export Citation:
Assignee:
LINGDONG TECH BEIJING CO LTD (CN)
International Classes:
G05D1/02
Attorney, Agent or Firm:
NTD UNIVATION INTELLECTUAL PROPERTY AGENCY LTD. (CN)
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