CN-121977565-A - Intelligent obstacle avoidance path planning method and device for quadruped robot

CN121977565ACN 121977565 ACN121977565 ACN 121977565ACN-121977565-A

Abstract

The invention relates to the technical field of path planning, in particular to an obstacle avoidance path intelligent planning method and device of a quadruped robot, comprising the steps of obtaining the current position and the overall planned path of the quadruped robot; the method comprises the steps of obtaining a direct planning path and a forward planning path according to position distribution between a current position of the quadruped robot and a future path node and path cost constraint, obtaining a path loss characteristic value according to path cost difference between the direct planning path and the forward planning path, obtaining a speed loss characteristic value according to distance between each local position and an obstacle on the direct planning path and the forward planning path and speed constraint of the quadruped robot on the direct planning path and the forward planning path and combining steering speed loss of the quadruped robot on the forward planning path, and screening the direct planning path and the forward planning path to obtain the local planning path. The four-foot robot path planning result is more reasonable.

Inventors

ZHANG QINGQUAN
Zhu Zongdong
ZHAO GUOQIANG

Assignees

华戎技术有限公司

Dates

Publication Date: 20260505
Application Date: 20260123

Claims (10)

1. The intelligent obstacle avoidance path planning method for the quadruped robot is characterized by comprising the following steps of: Acquiring the current position and a global planning path of the quadruped robot, wherein the global planning path comprises a preset number of continuous future path nodes behind historical path nodes; According to the position distribution between the current position of the quadruped robot and future path nodes and path cost constraint, carrying out local path planning on the quadruped robot to obtain a direct planning path and a forward planning path of the quadruped robot reaching a target path node, wherein the target path node is the last future path node; obtaining a path loss characteristic value of the quadruped robot reaching a target path node according to the path cost difference between the direct planning path and the in-order planning path; According to the distance between each local position and the obstacle on the direct planning path and the orthotopic planning path and the speed constraint of the quadruped robot on the direct planning path and the orthotopic planning path, combining the steering speed loss of the quadruped robot on the orthotopic planning path to obtain a speed loss characteristic value of the quadruped robot reaching a target path node; And screening the direct planning path and the in-order planning path according to the path loss characteristic value and the speed loss characteristic value to obtain a local planning path of the quadruped robot reaching the target path node.
2. The intelligent obstacle avoidance path planning method of a quadruped robot according to claim 1, wherein the local path planning is performed on the quadruped robot according to the position distribution between the current position and the future path nodes of the quadruped robot and the path cost constraint, so as to obtain a direct planned path and a forward planned path of the quadruped robot reaching the target path nodes, specifically comprising: The method comprises the steps of taking the current position of a quadruped robot as a starting point, taking a target path node as an end point, taking an obstacle distance as a constraint, utilizing a path planning algorithm to obtain a first planning path of the quadruped robot reaching the target path node, and obtaining the path cost of the first planning path according to the path length of the first planning path and the distance between a path track and the obstacle; The method comprises the steps of planning paths between each two adjacent nodes between the current position of the quadruped robot and a target path node to obtain second planning paths between each two adjacent nodes between which the quadruped robot reaches the target path node, obtaining the path cost of each second planning path, and forming a cis-position planning path by the second planning paths corresponding to the minimum value of the path cost of all the second planning paths between each two adjacent nodes.
3. The intelligent obstacle avoidance path planning method of a quadruped robot according to claim 2, wherein the obtaining the path cost of the first planned path according to the path length of the first planned path and the distance between the path track and the obstacle specifically comprises: And carrying out weighted summation on the path length of the first planning path and the reciprocal of the shortest distance between the first planning path and the obstacle to obtain the path cost of the first planning path.
4. The intelligent obstacle avoidance path planning method of a quadruped robot according to claim 1, wherein the obtaining the path loss characteristic value of the quadruped robot reaching the target path node according to the path cost difference between the direct planned path and the in-order planned path specifically comprises: And determining a path loss characteristic value of the quadruped robot reaching the target path node based on a difference ratio between the path cost of the orthotopic planning path and the path cost of the direct planning path, wherein the path cost of the orthotopic planning path is the sum of the path costs between every two adjacent nodes on the orthotopic planning path.
5. The intelligent obstacle avoidance path planning method of a quadruped robot according to claim 1, wherein the obtaining the characteristic value of the speed loss of the quadruped robot reaching the target path node according to the distance between each local position and the obstacle on the direct planning path and the orthotopic planning path and the speed constraint of the quadruped robot on the direct planning path and the orthotopic planning path and combining the steering speed loss of the quadruped robot on the orthotopic planning path specifically comprises: dividing track points of the direct planning path, and dividing track points of transition paths between every two nodes on the orthotopic planning path respectively; according to the distance between each track point and an obstacle and the maximum deceleration of the quadruped robot, the obstacle avoidance speed of the direct planning path at each track point and the obstacle avoidance speed of each track point on the orthotopic planning path are respectively obtained; According to the shortest running time of the quadruped robot between every two adjacent track points and the loss value of the obstacle avoidance speed of each track point, a speed loss characteristic value of a direct planning path and a first characteristic loss of a orthotopic planning path are respectively obtained; Obtaining a second characteristic loss of the orthotopic planned path according to the steering angle and the steering time between each adjacent transition path on the orthotopic planned path and the maximum speed of the quadruped robot; The accumulated sum of the first characteristic loss and the second characteristic loss is a speed loss characteristic value of the cis-position planning path; And calculating a difference value between the speed loss characteristic value of the orthotopic planning path and the speed loss characteristic value of the direct planning path, and carrying out normalization processing on the ratio of the difference value to the speed loss characteristic value of the direct planning path to obtain the speed loss characteristic value of the quadruped robot reaching the target path node.
6. The intelligent planning method of the obstacle avoidance path of the quadruped robot according to claim 5, wherein the steps of obtaining the obstacle avoidance speed of the direct planning path at each track point and the obstacle avoidance speed of each track point on the orthotopic planning path according to the distance between each track point and the obstacle and the maximum deceleration of the quadruped robot respectively comprise the following steps: Obtaining the maximum deceleration of the quadruped robot; For any track point, taking the obstacle avoidance speed of the track point as an initial speed, and solving the obstacle avoidance speed of the track point when the braking distance of the four-foot robot at each track point meets the distance constraint condition based on the maximum deceleration of the four-foot robot; The distance constraint condition is that the braking distance of the quadruped robot at the track point is smaller than or equal to the shortest distance between the track point and the obstacle.
7. The intelligent obstacle avoidance path planning method of a quadruped robot according to claim 5, wherein the obtaining the speed loss characteristic value of the direct planned path and the first characteristic loss of the orthotopic planned path according to the shortest running time of the quadruped robot between every two adjacent track points and the loss value of the obstacle avoidance speed of each track point respectively comprises: Obtaining the maximum speed of the quadruped robot; taking the difference value between the maximum speed of the quadruped robot and the obstacle avoidance speed of each track point as the loss speed of each track point; the ratio of the distance between adjacent track points to the maximum speed is used as the shortest running time between the adjacent track points; Calculating the accumulated sum of the products of the loss speed of each track point and the shortest running time on the direct planning path to obtain a speed loss characteristic value of the direct planning path; And calculating the accumulated sum of the products of the loss speed of each track point and the shortest running time on each transition path on the forward planning path to obtain the first characteristic loss of the forward planning path.
8. The intelligent obstacle avoidance path planning method of a quadruped robot according to claim 7, wherein the obtaining the second characteristic loss of the orthotopic planned path according to the steering angle and the steering time between each adjacent transition path on the orthotopic planned path in combination with the maximum speed of the quadruped robot specifically comprises: taking the included angle between adjacent transition paths on the forward planning path as a steering angle; setting a steering loss coefficient to a first preset value when the steering angle is less than or equal to a preset first angle threshold, setting a steering loss coefficient to a second preset value when the steering angle is greater than the preset first angle threshold and less than or equal to a preset second angle threshold, and setting a steering loss coefficient to a third preset value when the steering angle is greater than the preset second angle threshold; the first angle threshold is smaller than the second angle threshold, the first preset value is smaller than the second preset value, and the second preset value is smaller than the third preset value; And calculating the product of the maximum speed of the quadruped robot and the preset fixed steering time and the steering loss coefficient to obtain the second characteristic loss of the orthotopic planned path.
9. The intelligent obstacle avoidance path planning method of a quadruped robot according to claim 1, wherein the screening of the direct planned path and the in-order planned path according to the path loss characteristic value and the speed loss characteristic value is performed to obtain a local planned path of the quadruped robot reaching a target path node, and the method specifically comprises the following steps: and carrying out weighted summation on the path loss characteristic value and the speed loss characteristic value to obtain a global loss value of the quadruped robot reaching the target path node, and taking direct path planning as a path planning result when the global loss value is larger than a preset loss threshold value, or taking orthotopic path planning as a path planning result.
10. An obstacle avoidance path intelligent planning device for a quadruped robot, which is used for implementing the steps of the obstacle avoidance path intelligent planning method for the quadruped robot according to any one of claims 1 to 9, and specifically comprises: The data acquisition unit is used for acquiring the current position of the quadruped robot and a global planning path, wherein the global planning path comprises a preset number of continuous future path nodes behind a history path node; The initial planning unit is used for carrying out local path planning on the quadruped robot according to the position distribution between the current position of the quadruped robot and the future path nodes and the path cost constraint to obtain a direct planning path and a forward planning path of the quadruped robot reaching a target path node; The path loss analysis unit is used for obtaining a path loss characteristic value of the quadruped robot reaching the target path node according to the path cost difference between the direct planning path and the in-order planning path; the speed loss analysis unit is used for obtaining a speed loss characteristic value of the quadruped robot reaching a target path node according to the distance between each local position and the obstacle on the direct planning path and the orthotopic planning path and the speed constraint of the quadruped robot on the direct planning path and the orthotopic planning path and combining the steering speed loss of the quadruped robot on the orthotopic planning path; and the local path planning unit is used for screening the direct planning path and the in-order planning path according to the path loss characteristic value and the speed loss characteristic value to obtain a local planning path of the quadruped robot reaching the target path node.

Description

Intelligent obstacle avoidance path planning method and device for quadruped robot Technical Field The invention relates to the technical field of path planning, in particular to an obstacle avoidance path intelligent planning method and device for a quadruped robot. Background The four-legged robot is widely applied to scenes such as post-disaster rescue (ruin rubble environment detection), electric power inspection (mountain steep slope equipment investigation), mine exploration (unstructured roadway mapping), home service (indoor complex scene movement) and the like by virtue of multi-gait switching, complex terrain obstacle surmounting and dynamic balancing capability, and has the advantages that along with industry demand upgrading, the requirement on the path planning robustness of the robot in a dynamic unknown environment is remarkably improved, the triple targets of global unbiased, local obstacle avoidance stability and gait adaptation optimization are simultaneously met, but the problems of sudden obstacle, terrain mutation and the like in an unstructured environment are solved, so that the traditional planning scheme is difficult to balance the contradiction between global guidance and local safety, and the situation becomes a core bottleneck of industry technology landing. At present, a conventional method for planning a path of a quadruped robot is in a form of fusion of global planning and local planning, but the execution process of the global planning path in the method has rigidity and needs to be pushed strictly according to the position sequence of the path. In the local real-time obstacle avoidance process of the DWA algorithm, the quadruped robot can generate tiny track deviation and gait parameter adjustment for avoiding obstacles and adapting motion parameters, the accumulation effects can enable the actual motion track and motion direction of the robot to deviate from a theoretical route planned globally, and when the local obstacle condition is complex, conflict can be caused between the route planned locally and the global route, so that the rationality of the planned route is poor. Disclosure of Invention In order to solve the technical problem that when the situation of a local obstacle is complex, a conflict exists between a locally planned route and a global route, so that the rationality of the planned route is poor, the invention aims to provide an obstacle avoidance route intelligent planning method and device of a quadruped robot, and the adopted technical scheme is as follows: in a first aspect, the present invention provides an intelligent obstacle avoidance path planning method for a quadruped robot, including: Acquiring the current position and a global planning path of the quadruped robot, wherein the global planning path comprises a preset number of continuous future path nodes behind historical path nodes; According to the position distribution between the current position of the quadruped robot and future path nodes and path cost constraint, carrying out local path planning on the quadruped robot to obtain a direct planning path and a forward planning path of the quadruped robot reaching a target path node, wherein the target path node is the last future path node; obtaining a path loss characteristic value of the quadruped robot reaching a target path node according to the path cost difference between the direct planning path and the in-order planning path; According to the distance between each local position and the obstacle on the direct planning path and the orthotopic planning path and the speed constraint of the quadruped robot on the direct planning path and the orthotopic planning path, combining the steering speed loss of the quadruped robot on the orthotopic planning path to obtain a speed loss characteristic value of the quadruped robot reaching a target path node; And screening the direct planning path and the in-order planning path according to the path loss characteristic value and the speed loss characteristic value to obtain a local planning path of the quadruped robot reaching the target path node. Preferably, the local path planning is performed on the quadruped robot according to the position distribution between the current position and the future path node of the quadruped robot and the path cost constraint, so as to obtain a direct planned path and a forward planned path of the quadruped robot reaching the target path node, which specifically includes: The method comprises the steps of taking the current position of a quadruped robot as a starting point, taking a target path node as an end point, taking an obstacle distance as a constraint, utilizing a path planning algorithm to obtain a first planning path of the quadruped robot reaching the target path node, and obtaining the path cost of the first planning path according to the path length of the first planning path and the distance between a path track and the obstacle; The method compris